Does anybody worked on the position estimation of a hovering UAV (quadrotor, helicopter etc.) using external multiple webcams+PC and a custom OpenCV (or MATLAB) application in indoor environment ?
(Yes, I'm trying to make a poorman's version of expensive Vicon system)
I think there could be some promise in the OpenTLD algorithm (http://forums.trossenrobotics.com/showthread.php?4822-OpenTLD-quot-...). It would still take some work to go from this to UAV navigation. For example, if this algorithm could run on a smartphone with a camera mounted on the aircraft, the phone could then feed position or angle data of a reference point to the APM for stabilization.
I too would be intrested in such a system, if only to film my flights etc..