PX4-Autopilot/docs/zh/computer_vision/motion_capture.md

Motion Capture (MoCap)

Motion Capture (MoCap) is a computer vision technique for estimating the 3D pose (position and orientation) of a vehicle using a positioning mechanism that is external to the vehicle. It is commonly used to navigate a vehicle in situations where GPS is absent (e.g. indoors), and provides position relative to a local coordinate system.

MoCap systems most commonly detect motion using infrared cameras, but other types of cameras, Lidar, or Ultra Wideband (UWB) may also be used.

:::info MoCap is conceptually similar to Visual Inertial Odometry (VIO). 主要区别在于，在 VIO 中，视觉系统运行在无人机上。 额外还需要利用无人机上 IMU 提供速度信息。 :::

MoCap 资源

有关 MoCap 的信息，请参阅：

• Using Vision or Motion Capture Systems for Position Estimation.
• Flying with Motion Capture (VICON, NOKOV, Optitrack).
• Using PX4's Navigation Filter (EKF2) > External Vision System