PX4-Autopilot/docs/ko/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). 가장 큰 차이점은 VIO는 기체내에서 비전 시스템이 동작하며, 속도 정보를 취득하기 위하여 기체의 관성 측정 장치(IMU)를 사용합니다. :::

모션 캡쳐 참고 자료

자세한 모션 캡쳐 기술은 다음을 참고하십시오:

• 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