Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Concept Videos

Design Example: Identifying the Locations of Monuments in the Field Using Global Positioning System Device01:30

Design Example: Identifying the Locations of Monuments in the Field Using Global Positioning System Device

165
Surveyors use Global Positioning System (GPS) technology to measure the precise location and elevation of points on Earth. In a recent survey, GPS receivers were used to determine the coordinates and elevations of two park monuments. The process involved careful mission planning, data collection, and correction to ensure accuracy. The survey began with mission planning to identify optimal satellite visibility and minimize Position Dilution of Precision (PDOP). A geodetic control point...
165
Field Application of Global Positioning System01:28

Field Application of Global Positioning System

86
The Global Positioning System (GPS) has become an indispensable tool in fieldwork, offering unparalleled precision and efficiency for surveying, navigation, and infrastructure development. By harnessing signals from a constellation of satellites, GPS receivers determine the location of objects with remarkable speed and accuracy, often completing calculations within a second.Advantages of Modern GPS TechnologyContemporary GPS receivers are designed to meet the practical demands of field...
86
Absolute Motion Analysis- General Plane Motion01:24

Absolute Motion Analysis- General Plane Motion

262
Visualize a drone, with its propellers spinning rapidly, hovering mid-air. The fascinating movements and operations of this drone can be comprehended by applying the principle of general plane motion.
As the drone's propellers rotate, an upward force is generated that counteracts the force of gravity, enabling the drone to lift off from the ground. This initial movement of the drone is along a straight path, representing a form of translational motion. In this phase, every point on the...
262
Types of Global Positioning System Surveys01:30

Types of Global Positioning System Surveys

113
GPS surveying methods vary in application, accuracy, and data collection techniques, catering to diverse surveying and mapping needs. Static GPS, kinematic GPS, and real-time kinematic (RTK) surveying are widely used. Each technique offers distinct advantages.Static GPS involves placing one receiver at a known reference point and another at the target point. It collects exact positional data by observing multiple satellite ranges over an extended period, achieving centimeter-level accuracy for...
113
Relative Motion Analysis using Rotating Axes01:25

Relative Motion Analysis using Rotating Axes

524
Consider a component AB undergoing a linear motion. Along with a linear motion, point B also rotates around point A. To comprehend this complex movement, position vectors for both points A and B are established using a stationary reference frame.
However, to express the relative position of point B relative to point A, an additional frame of reference, denoted as x'y', is necessary. This additional frame not only translates but also rotates relative to the fixed frame, making it...
524
Relative Motion Analysis using Rotating Axes-Problem Solving01:29

Relative Motion Analysis using Rotating Axes-Problem Solving

443
Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
443

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

Visual Sensor Networks for Indoor Real-Time Surveillance and Tracking of Multiple Targets.

Sensors (Basel, Switzerland)·2022
Same author

A quantitative taxonomy of human hand grasps.

Journal of neuroengineering and rehabilitation·2019
See all related articles

Related Experiment Video

Updated: Sep 1, 2025

Author Spotlight: UAV Remote Sensing for Efficient Invasive Plant Biomass Estimation
08:47

Author Spotlight: UAV Remote Sensing for Efficient Invasive Plant Biomass Estimation

Published on: February 9, 2024

1.6K

Indoor Visual-Based Localization System for Multi-Rotor UAVs.

Massimiliano Bertoni1, Stefano Michieletto1, Roberto Oboe1

  • 1Department of Management and Engineering, University of Padova, Stradella S. Nicola, 3, 36100 Vicenza, Italy.

Sensors (Basel, Switzerland)
|August 12, 2022
PubMed
Summary

This study introduces a visual-inertial odometry method using fiducial markers for autonomous aerial vehicle navigation in challenging indoor spaces. The approach ensures continuous, accurate localization from takeoff to landing, improving upon existing solutions.

Keywords:
Visual Inertial Odometryaerial vehiclesfiducial markersindoor localization

More Related Videos

Electroantennography-based Bio-hybrid Odor-detecting Drone using Silkmoth Antennae for Odor Source Localization
06:00

Electroantennography-based Bio-hybrid Odor-detecting Drone using Silkmoth Antennae for Odor Source Localization

Published on: August 27, 2021

5.4K
Visually Mediated Odor Tracking During Flight in Drosophila
08:50

Visually Mediated Odor Tracking During Flight in Drosophila

Published on: January 26, 2009

10.0K

Related Experiment Videos

Last Updated: Sep 1, 2025

Author Spotlight: UAV Remote Sensing for Efficient Invasive Plant Biomass Estimation
08:47

Author Spotlight: UAV Remote Sensing for Efficient Invasive Plant Biomass Estimation

Published on: February 9, 2024

1.6K
Electroantennography-based Bio-hybrid Odor-detecting Drone using Silkmoth Antennae for Odor Source Localization
06:00

Electroantennography-based Bio-hybrid Odor-detecting Drone using Silkmoth Antennae for Odor Source Localization

Published on: August 27, 2021

5.4K
Visually Mediated Odor Tracking During Flight in Drosophila
08:50

Visually Mediated Odor Tracking During Flight in Drosophila

Published on: January 26, 2009

10.0K

Area of Science:

  • Robotics
  • Computer Vision
  • Navigation Systems

Background:

  • Industry 4.0 and smart environments increase demand for indoor autonomous aerial vehicles.
  • Indoor localization for aerial vehicles remains a significant challenge, particularly in cluttered or confined spaces.
  • Existing visual-based localization methods struggle with continuous pose estimation and varying altitudes.

Purpose of the Study:

  • To develop a robust Visual Inertial Odometry (VIO) localization method for multi-rotor aerial vehicles in indoor environments.
  • To enable continuous and accurate pose estimation for aerial vehicles from takeoff to landing across different altitudes.
  • To address challenges in image-based indoor localization, especially in close and cluttered areas.

Main Methods:

  • Proposed a Visual Inertial Odometry (VIO) localization approach utilizing fiducial markers.
  • Designed a dense and heterogeneous map of fiducial markers with varied sizes and close placement.
  • Implemented a system for continuous pose estimation from takeoff to landing at multiple altitudes.

Main Results:

  • Achieved consistent localization accuracy with mean and standard deviation errors below 0.11 meters.
  • Demonstrated that localization accuracy does not degrade with increasing aerial vehicle altitude.
  • Validated the approach using two platforms and an optoelectronic motion capture system for ground truth.

Conclusions:

  • The proposed fiducial marker-based VIO method significantly enhances indoor aerial vehicle localization accuracy and reliability.
  • The system provides robust performance across varying altitudes and dynamic flight conditions.
  • This approach offers a substantial improvement over current state-of-the-art indoor localization solutions for autonomous aerial vehicles.