Tracking flying quadcopter

Made some tracking software to track the HCD's. Click here or on picture for video.
The tracker is made using Kinect and OpenFrameworks. I use the Kinects color video image to track orientations and the depth camera for altitude.

The tracker locks on to colored tags made from pink post-it notes and use their position to select which part of the depth information is relevant.
It's all very experimental at the moment but seems promising.
The aim is to autonomously fly one or more HCD's in formation.