Low cost vision-based 3D localization system for indoor unmanned aerial vehicles

The paper presents a method to determine a position of objects in three dimentional coordinates. The proposed method uses a vision-based localization using two low cost cameras. The formulation is derived by using a pin-hole camera principal to project a location of a point in a 2D image into 3D space. This method can be used for indoor unmanned aerial vehicles localization to provide position information for control and navigation purposes.