Image-based visual servoing of a Mikrokopter drone

This video shows an experiment in which image-based visual servoing using an Intel RealSense T265 camera is running on a Jetson TX2 embedded on a Mikrokopter drone. ViSP 1 our Visual-Servoing platform is used here to interface with Intel RealSense Tracker T265 sensor to retrieve odometry data and fisheye images.
The odometry data is used as a state information instead of external motion capture data Vicon and the fisheye images are undistorted and processed in order to detect AprilTags. The drone is flying without any external intervention.
It takes off detects a series of tags and apply visual servoing to converge to a desired state. 1

Источник: rutube.ru