Determination of object´s coordinate using quadrotor for search and rescue mission

This paper proposes a system to determine the coordinate of an object which could be victim, survivor, or crashed airplane, in post-disastrous scene based on the known coordinate of the quadrotor. The use of quadrotor can avoid a limitation of ground vehicle which cannot traverse freely except with certain special platform or configuration. A stereo vision system, attached underneath the quadrotor, is used to detect the target and determine distance to the target. With the distance information, the coordinate of the object can be calculated based on the coordinate transformation method. Four experimental results show that this method performs well with the distance error less than 8 meters.