3 years. A university degree. A rediscovery. This is the story (so far) of my Raspberry Pi powered drone.

This project is a monster. I started it in late 2017 for my university degree, aiming to create a drone that maps indoor spaces using photogrammetry. I've covered everything done from that time through to 2021 in this video!

Very much looking forward to where I take this project next!

00:00 - Intro
01:10 - Build (v1.0)
02:10 - Flight software
03:17 - Indoor Positioning
05:01 - Photogrammetry
06:28 - Testing
07:53 - Analysis
09:16 - Rediscovery
09:47 - Fixes
10:54 - Build (v2.0)
12:04 - Hello, world
13:39 - What's next?

🌐 Links

Dissertation: https://akamatchstic.com/files/disser...
Computerphile:    / computerphile  

ℹ️ Attributions

| Music

Music: https://www.bensound.com
Music: https://www.purple-planet.com

| Sound Effects

Rewind FX
https://freesound.org/people/Tasmania...

| Iconography

bqlqn from Flaticon
https://www.flaticon.com/authors/bqlqn

Freepik from Flaticon
https://www.freepik.com

Twemoji
https://twemoji.twitter.com/

| Video

Photogrammetry 2 – 3D scanning with just PHONE/CAMERA simpler, better than ever!
Prusa 3D by Josef Prusa
   • Photogrammetry 2 – 3D scanning with j...  

ORB-SLAM2: an Open-Source SLAM for Monocular, Stereo and RGB-D Cameras
Raúl Mur Artal
   • ORB-SLAM2: an Open-Source SLAM for Mo...  

ArduCopter Release V3 - The "expensive multirotor flight system" killer!
Marco Robustini
   • ArduCopter Release V3 - The "expensiv...  

Video by Mikhail Nilov from Pexels
https://www.pexels.com/video/close-up...

Video by RODNAE Productions from Pexels
https://www.pexels.com/video/teacher-...

💡 Research Papers

OpenMVS: Multi-View Stereo Reconstruction Library. (2020). Cernea, Dan.
Available: https://cdcseacave.github.io/openMVS

Structure-from-Motion Revisited. (2016). Schönberger, Johannes Lutz and Frahm, Jan-Michael
Conference on Computer Vision and Pattern Recognition (CVPR).

Pixelwise View Selection for Unstructured Multi-View Stereo. (2016). Schönberger, Johannes Lutz and Zheng, Enliang and Pollefeys, Marc and Frahm, Jan-Michael.
European Conference on Computer Vision (ECCV)

⚙️ Drone Hardware

- Raspberry Pi Zero W
- Raspberry Pi Camera Module
- Erle Robotics PXFmini (no longer available)
- Erle Robotics Power Module (no longer available)
- Martian II 250 frame
- Battery (LiPo, 3S, 2200mAh, 40C)
- 4x Racerstar RS30A V2 30A (ESCs)
- 2x MultiStar V-Spec 2205 CW (Motors)
- 2x MultiStar V-Spec 2205 CCW (Motors)
- 4x Gemfan Multirotor CRP Propeller 6x4.5 (CCW and CW)

🧐 Social Stuff

Twitter:   / akamatchstic