DeepAI AI Chat
Log In Sign Up

Lighthouse Positioning System: Dataset, Accuracy, and Precision for UAV Research

by   Arnaud Taffanel, et al.

The Lighthouse system was originally developed as tracking system for virtual reality applications. Due to its affordable price, it has also found attractive use-cases in robotics in the past. However, existing works frequently rely on the centralized official tracking software, which make the solution less attractive for UAV swarms. In this work, we consider an open-source tracking software that can run onboard small Unmanned Aerial Vehicles (UAVs) in real-time and enable distributed swarming algorithms. We provide a dataset specifically for the use cases i) flight; and ii) as ground truth for other commonly-used distributed swarming localization systems such as ultra-wideband. We then use this dataset to analyze both accuracy and precision of the Lighthouse system in different use-cases. To our knowledge, we are the first to compare two different Lighthouse hardware versions with a motion capture system and the first to analyze the accuracy using tracking software that runs onboard a microcontroller.


page 1

page 2

page 3


A Secure and Robust Approach for Distance-Based Mutual Positioning of Unmanned Aerial Vehicles

Unmanned aerial vehicle (UAV) is becoming increasingly important in mode...

Timing in Software-Defined and Centrally-Managed Networks

The work described in this paper explores the use of time and synchroniz...

UWB-based system for UAV Localization in GNSS-Denied Environments: Characterization and Dataset

Small unmanned aerial vehicles (UAV) have penetrated multiple domains ov...

THz-Empowered UAVs in 6G: Opportunities, Challenges, and Trade-Offs

Envisioned use cases of unmanned aerial vehicles (UAVs) impose new servi...

Zero Touch Coordinated UAV Network Formation for 360° Views of a Moving Ground Target in Remote VR Applications

Unmanned aerial vehicles (UAVs) with on-board cameras are widely used fo...

Building an Aerial-Ground Robotics System for Precision Farming

The application of autonomous robots in agriculture is gaining more and ...

UWB-Based Localization for Multi-UAV Systems and Collaborative Heterogeneous Multi-Robot Systems: a Survey

Ultra-wideband technology has emerged in recent years as a robust soluti...