Nice work! Jump ahead to 0:41 for the good stuff. From the video description:
In this video we demonstrate the capabilities of our monocular pose tracking system. It consists of infrared LEDs on the quadrotor and an infrared camera on the arm of a ground robot. Since we know the positions of the LEDs on the quadrotor, we can precisely estimate its position and orientation. We are able to stabilize a quadrotor under illumination changes up to complete darkness. Our algorithm is robust to false detections. This with an additional infrared LED, which we move closely to the other LEDs. To estimate the pose of the quadrotor, we need at least four LEDs. However, five are currently mounted. Our system can handle the occlusion of an LED and is still precise enough to stabilize the quadrotor. Since we track the quadrotor relative to the camera, the quadrotor stays with the ground robot, even if it is moving. Our system works also outdoors.
The system is described in our ICRA 2014 paper:
Matthias Faessler, Elias Mueggler, Karl Schwabe and Davide Scaramuzza: A Monocular Pose Estimation System based on Infrared LEDs. IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014.
The code can be downloaded from our website: