In this video, I am using a UMI, a sonar for altitude, and a wii-remote camera. The wii-remote camera is a very small camera that is included in the wii-remote.
The wii-remote camera gives directly the 2D coordinates of the IR spots in the image. It's interface is I2C. This is really a great sensor!
On my UAV, the wii-remote camera looks under.
I put IR LEDs on the floor.
I have put some lenses on this wii-remote camera, because the field of view was too narrow.
I still plan to make my drone navigate autonomously in an indoor environment, with several IR spots put on the floor.
For french-speeking people, you can see all the work that I have done on this web-site.
I will soon translate it in english.
Do not hesitate to ask me any question about this project.