camera drones lecture 1 camera drones overview · presentation documentation course grade will be...
TRANSCRIPT
![Page 1: Camera Drones Lecture 1 Camera drones overview · Presentation Documentation Course grade will be based on the grades for the project work, project presentation, documentation and](https://reader034.vdocuments.site/reader034/viewer/2022050412/5f88929365d3302caa120ce7/html5/thumbnails/1.jpg)
Camera Drones
Lecture 1 – Camera drones overview
Ass.Prof. Friedrich Fraundorfer
WS 2019
1
![Page 2: Camera Drones Lecture 1 Camera drones overview · Presentation Documentation Course grade will be based on the grades for the project work, project presentation, documentation and](https://reader034.vdocuments.site/reader034/viewer/2022050412/5f88929365d3302caa120ce7/html5/thumbnails/2.jpg)
About me
Ass. Prof. Dr. Friedrich Fraundorfer
Email: [email protected]
Institut für Maschinelles Sehen und Darstellen
Inffeldgasse 16/II
+43 (316) 873 - 5020
Sprechstunde nach Vereinbarung
2
![Page 3: Camera Drones Lecture 1 Camera drones overview · Presentation Documentation Course grade will be based on the grades for the project work, project presentation, documentation and](https://reader034.vdocuments.site/reader034/viewer/2022050412/5f88929365d3302caa120ce7/html5/thumbnails/3.jpg)
Course schedule
See dates for lecture slots in TUG-Online
Project work
▫ Drone navigation practical
▫ Presentation
▫ Documentation
Course grade will be based on the grades for the project work, project
presentation, documentation and a questionnaire.
Start of project work leads to grading of the course
The project work is the partial course assignment that can be repeated
or supplemented
3
![Page 4: Camera Drones Lecture 1 Camera drones overview · Presentation Documentation Course grade will be based on the grades for the project work, project presentation, documentation and](https://reader034.vdocuments.site/reader034/viewer/2022050412/5f88929365d3302caa120ce7/html5/thumbnails/4.jpg)
Course schedule
Lecture topics:
▫ Quadrotor Basics
▫ Control and Sensors
▫ 3D Data generation (SFM, dense matching)
▫ Visual Odometry
▫ Flight planning for 3D reconstruction
▫ Drone regulations in Austria
droneSpace introduction (16.10.)
Hands-on-ROS tutorial
Quiz (15.01.2019)
Final presentations ( 22.1.2019/29.1.2019)
4
![Page 5: Camera Drones Lecture 1 Camera drones overview · Presentation Documentation Course grade will be based on the grades for the project work, project presentation, documentation and](https://reader034.vdocuments.site/reader034/viewer/2022050412/5f88929365d3302caa120ce7/html5/thumbnails/5.jpg)
Camera drones overview
5
![Page 6: Camera Drones Lecture 1 Camera drones overview · Presentation Documentation Course grade will be based on the grades for the project work, project presentation, documentation and](https://reader034.vdocuments.site/reader034/viewer/2022050412/5f88929365d3302caa120ce7/html5/thumbnails/6.jpg)
Camera drones overview
Consumer drones
Professional drones
Research drones
6
[Image credit: Leica]
[Image credit: DJI]
![Page 7: Camera Drones Lecture 1 Camera drones overview · Presentation Documentation Course grade will be based on the grades for the project work, project presentation, documentation and](https://reader034.vdocuments.site/reader034/viewer/2022050412/5f88929365d3302caa120ce7/html5/thumbnails/7.jpg)
Consumer drones – The First
7
[Image credit: Parrot]
![Page 8: Camera Drones Lecture 1 Camera drones overview · Presentation Documentation Course grade will be based on the grades for the project work, project presentation, documentation and](https://reader034.vdocuments.site/reader034/viewer/2022050412/5f88929365d3302caa120ce7/html5/thumbnails/8.jpg)
Consumer drones
8
[Image credit: DJI] [Image credit: Yuneec]
[Image credit:GoPro][Image credit: Parrot]
![Page 9: Camera Drones Lecture 1 Camera drones overview · Presentation Documentation Course grade will be based on the grades for the project work, project presentation, documentation and](https://reader034.vdocuments.site/reader034/viewer/2022050412/5f88929365d3302caa120ce7/html5/thumbnails/9.jpg)
Consumer drones
[Image credit:Skydio
Sykdio R1
9
![Page 10: Camera Drones Lecture 1 Camera drones overview · Presentation Documentation Course grade will be based on the grades for the project work, project presentation, documentation and](https://reader034.vdocuments.site/reader034/viewer/2022050412/5f88929365d3302caa120ce7/html5/thumbnails/10.jpg)
Professional drones
Asctec Falcon
Aerial photography and inspection
10
[Image credit: Asctec]
![Page 11: Camera Drones Lecture 1 Camera drones overview · Presentation Documentation Course grade will be based on the grades for the project work, project presentation, documentation and](https://reader034.vdocuments.site/reader034/viewer/2022050412/5f88929365d3302caa120ce7/html5/thumbnails/11.jpg)
Professional drones
Leica/Aibotix drone
Inspection and measurement tasks
11[Image credit: Leica]
![Page 12: Camera Drones Lecture 1 Camera drones overview · Presentation Documentation Course grade will be based on the grades for the project work, project presentation, documentation and](https://reader034.vdocuments.site/reader034/viewer/2022050412/5f88929365d3302caa120ce7/html5/thumbnails/12.jpg)
Professional drones
Riegl Ricopter
Photogrammetry and Laser scanning
25kg!
12[Image credit: Riegl]
![Page 13: Camera Drones Lecture 1 Camera drones overview · Presentation Documentation Course grade will be based on the grades for the project work, project presentation, documentation and](https://reader034.vdocuments.site/reader034/viewer/2022050412/5f88929365d3302caa120ce7/html5/thumbnails/13.jpg)
Professional drones
13
Flyability drone
Indoor inspection
[Image credit: Flyability]
![Page 14: Camera Drones Lecture 1 Camera drones overview · Presentation Documentation Course grade will be based on the grades for the project work, project presentation, documentation and](https://reader034.vdocuments.site/reader034/viewer/2022050412/5f88929365d3302caa120ce7/html5/thumbnails/14.jpg)
Professional drones
Honeywell RQ-16 T-Hawk
Reconnaissance, long endurance drone
14[Image credit: Wikipedia]
![Page 15: Camera Drones Lecture 1 Camera drones overview · Presentation Documentation Course grade will be based on the grades for the project work, project presentation, documentation and](https://reader034.vdocuments.site/reader034/viewer/2022050412/5f88929365d3302caa120ce7/html5/thumbnails/15.jpg)
Professional drones
Schiebel Camcopter
Industrial inspection, long endurance drone
15[Image credit: By User:Stahlkocher, CC BY-SA 3.0]
![Page 16: Camera Drones Lecture 1 Camera drones overview · Presentation Documentation Course grade will be based on the grades for the project work, project presentation, documentation and](https://reader034.vdocuments.site/reader034/viewer/2022050412/5f88929365d3302caa120ce7/html5/thumbnails/16.jpg)
Professional drones
Sensefly Ebee
Fixed wing, long endurance
Photogrammetry
16
[Image credit: Sensefly]
![Page 17: Camera Drones Lecture 1 Camera drones overview · Presentation Documentation Course grade will be based on the grades for the project work, project presentation, documentation and](https://reader034.vdocuments.site/reader034/viewer/2022050412/5f88929365d3302caa120ce7/html5/thumbnails/17.jpg)
Professional drones
Swarmsys Nano-Drone
Reconnaissance
17
[Image credit: Swarmsys
![Page 18: Camera Drones Lecture 1 Camera drones overview · Presentation Documentation Course grade will be based on the grades for the project work, project presentation, documentation and](https://reader034.vdocuments.site/reader034/viewer/2022050412/5f88929365d3302caa120ce7/html5/thumbnails/18.jpg)
Research drone
Pixhawk drone
Modular research platform with onboard computer and cameras
18
![Page 19: Camera Drones Lecture 1 Camera drones overview · Presentation Documentation Course grade will be based on the grades for the project work, project presentation, documentation and](https://reader034.vdocuments.site/reader034/viewer/2022050412/5f88929365d3302caa120ce7/html5/thumbnails/19.jpg)
Research drone
Asctec Firefly
Modular research platform with onboard computer and cameras
19
![Page 20: Camera Drones Lecture 1 Camera drones overview · Presentation Documentation Course grade will be based on the grades for the project work, project presentation, documentation and](https://reader034.vdocuments.site/reader034/viewer/2022050412/5f88929365d3302caa120ce7/html5/thumbnails/20.jpg)
Research drone
DJI Matrice 100
Modular research platform with onboard computer and cameras
Onboard stereo depth sensors
20
![Page 21: Camera Drones Lecture 1 Camera drones overview · Presentation Documentation Course grade will be based on the grades for the project work, project presentation, documentation and](https://reader034.vdocuments.site/reader034/viewer/2022050412/5f88929365d3302caa120ce7/html5/thumbnails/21.jpg)
Practical part of the course
21
![Page 22: Camera Drones Lecture 1 Camera drones overview · Presentation Documentation Course grade will be based on the grades for the project work, project presentation, documentation and](https://reader034.vdocuments.site/reader034/viewer/2022050412/5f88929365d3302caa120ce7/html5/thumbnails/22.jpg)
Course drone
A drone based on the Bebop 2 drame (32x38cm) with Pixhawk flight
controller
22
![Page 23: Camera Drones Lecture 1 Camera drones overview · Presentation Documentation Course grade will be based on the grades for the project work, project presentation, documentation and](https://reader034.vdocuments.site/reader034/viewer/2022050412/5f88929365d3302caa120ce7/html5/thumbnails/23.jpg)
Course drone
Equipped with Odroid UX4 board and depth camera.
23
![Page 24: Camera Drones Lecture 1 Camera drones overview · Presentation Documentation Course grade will be based on the grades for the project work, project presentation, documentation and](https://reader034.vdocuments.site/reader034/viewer/2022050412/5f88929365d3302caa120ce7/html5/thumbnails/24.jpg)
Course drone components
24
![Page 25: Camera Drones Lecture 1 Camera drones overview · Presentation Documentation Course grade will be based on the grades for the project work, project presentation, documentation and](https://reader034.vdocuments.site/reader034/viewer/2022050412/5f88929365d3302caa120ce7/html5/thumbnails/25.jpg)
Lab infrastructure (droneSpace)
25
![Page 26: Camera Drones Lecture 1 Camera drones overview · Presentation Documentation Course grade will be based on the grades for the project work, project presentation, documentation and](https://reader034.vdocuments.site/reader034/viewer/2022050412/5f88929365d3302caa120ce7/html5/thumbnails/26.jpg)
Camera drone applications and research
Action filming
Archeology (3D Pitoti, 3D Model)
Inspection (Bridges, Power pylons)
Search and Rescue (DJI Challenge)
Agriculture
Safe navigation (Video)
Autonomous exploration (Video)
Human-Robot Interaction (Video)
Delivery (Video)
Industrial application (Video)
26
![Page 27: Camera Drones Lecture 1 Camera drones overview · Presentation Documentation Course grade will be based on the grades for the project work, project presentation, documentation and](https://reader034.vdocuments.site/reader034/viewer/2022050412/5f88929365d3302caa120ce7/html5/thumbnails/27.jpg)
Student projects 2016
"Don’t Throw Things At Drones!“
"Optitrack & RGBD-Sensor Based Indoor Mapping“
"Hand-Gesture Based Drone Control“
"Visual Marker Following Drone“
"Hula Hoop Following Drone“
"ORB2 SLAM Based Indoor Reconstruction“
"Snapdragon Flight Based Object Recognition And Waypoint Following"
27
![Page 28: Camera Drones Lecture 1 Camera drones overview · Presentation Documentation Course grade will be based on the grades for the project work, project presentation, documentation and](https://reader034.vdocuments.site/reader034/viewer/2022050412/5f88929365d3302caa120ce7/html5/thumbnails/28.jpg)
Drone challenge 2017
28
![Page 29: Camera Drones Lecture 1 Camera drones overview · Presentation Documentation Course grade will be based on the grades for the project work, project presentation, documentation and](https://reader034.vdocuments.site/reader034/viewer/2022050412/5f88929365d3302caa120ce7/html5/thumbnails/29.jpg)
Drone challenge 2018
The challenge involves mapping and exploration of an unknown indoor
environment with the help of small sized aerial vehicles. With a multi-
sensor setup onboard the MAVs, victims and/or points of interest should
be found as part of a search and rescue missions.
29
![Page 30: Camera Drones Lecture 1 Camera drones overview · Presentation Documentation Course grade will be based on the grades for the project work, project presentation, documentation and](https://reader034.vdocuments.site/reader034/viewer/2022050412/5f88929365d3302caa120ce7/html5/thumbnails/30.jpg)
Drone challenge 2019 – Collision free navigation
30
![Page 31: Camera Drones Lecture 1 Camera drones overview · Presentation Documentation Course grade will be based on the grades for the project work, project presentation, documentation and](https://reader034.vdocuments.site/reader034/viewer/2022050412/5f88929365d3302caa120ce7/html5/thumbnails/31.jpg)
Drone challenge 2019 - Collision free navigation
Main tasks:
1. Reconstruction of the environment
▫ Create Octomap from sensor input such that it provides a 3D map for path
planning.
2. Path planning for safe navigation
▫ Implement a path planning algorithm to navigate the drone collision-free to a
goal position (e.g. RRT algorithm)
3. Trajectory generation and flight
▫ Perform flight and videotape it
31