Uploaded August 2018 | Updated September 2026, 2 hours ago

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Precision landing most of the time relies on optical sensors. Sometimes a camera is used to find and track a marker, like the Aruco. From a marker we can derive the camera pose (position and orientation), which we can later use for controlling our vehicle (see part 2)

PART 2: youtube.com/watch?v=iezU2PR0hBk

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***** FIND THE CODE *******
- Github: github.com/tizianofiorenzani/how_do_drones_work

- My company Xworks (home of the RDISt): xworkshd.com

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***** References ***
- Aruco Library: docs.opencv.org/3.1.0/d5/dae/tutorial_aruco_detection.html

- Aruco Marker online generator: http://keystone.umd.edu/html/markergen.html

- Precision Landing project from GoodRobot: github.com/goodrobots/vision_landing

- Ardupilot Store: shop.ardupilot.org

- Rotation matrix to euler angles: learnopencv.com/rotation-matrix-to-euler-angles


***** REFERRED VIDEOS *****
- OpenCv setup on a Raspberry Pi 3: youtu.be/QV1a1G4lL3U

- Setup a Raspberry Pi 3 as Companion PC: youtu.be/cZVNndOaYCE

- Software In The Loop with Mission Planner: youtu.be/o6o5IcTAwgM

- Trajectory Tracking: youtu.be/yzeCuBjuEjc


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• Get a new Raspberry Pi here: amzn.to/2vBmAFQ

• Get a Raspberry Pi camera: amzn.to/2OVj7Kp

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***** NOTES ********

The units of measure are the same you used for defining the marker's dimension. In my case is cm