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Onboard visual system

Onboard pose estimation is a complementary way to obtain the relative position of the UAV with respect to known landmarks. Using the onboard camera and a tracking system based on visual features, it is possible to obtain the orientation (rotations) and position of a landmark with respect to the UAV and camera coordinate system. This information is useful for accurate positioning task and landing and also is a complementary information to the one estimated by the UAV inertial system.