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)

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I too would be intrested in such a system, if only to film my flights etc..

I think there could be some promise in the OpenTLD algorithm (  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.

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