Reflection-based relative localization, live

camera · active markers · 1D rangefinder 10 Hz ← Paper page
0.00 m error
range 0.0 m · est 0.0 m
inliers 0/0 · ESS 0
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Onboard camera UV-filtered, fisheye 752×480

direct pd–
reflection pr–

Pixels above the threshold σ are tinted. The reflection cone takes its half-angles from the farthest such pixels above/below (pv) and beside (ph) the centroid, capped at αrmax.

Pipeline live values, this frame

    Relative position and error truthestimateerror

    Last 30 s. Red bands: no usable reflection in that frame, so the filter only predicted.

    Surface tilt vs range noise-free, as Fig. 9

    Each curve is the method's error for one tilt τ at the current height and lateral offset.

    Scenario

    Transmitter motion

    Positions

    range x
    lateral y
    altitude above observer
    observer height h

    Error sources

    surface roughness (waves)
    Facet slope spread. Calm water and polished floors sit low; wind and downwash spread the reflection.
    surface tilt τ
    height measurement bias
    Error of the rangefinder that measures h.
    hover attitude, uncompensated
    The experiments left roll and pitch below 0.06 rad uncompensated.

    Method parameters Tab. I
    reflection-cone samples n
    particles np
    αrmax reflection cap
    αdmax = υdmax direct cone
    xm · zm extents
    threshold σ
    exposure texp

    Telemetry
    truth x y z
    –
    estimate x y z
    –
    error x y z
    –
    MAE x y z since reset
    –
    αr measured → used
    –
    υr measured → used
    –
    Fresnel reflectance
    –
    frames with a fix
    –
    pipeline time / frame
    –

    Simulation of the method in Reflection-Based Relative Localization for Cooperative UAV Teams Using Active Markers. The image is synthesised: an equidistant fisheye stands in for the calibrated OCam model, and the reflection is a glitter pattern from Gaussian facet slopes with Fresnel reflectance. Everything after the image follows Sec. II. Method parameters default to Tab. I.