My Raspberry Pi drone: the story so far

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://incendo.ws/files/dissertation-mclarke-2018.pdf
Computerphile: https://www.youtube.com/user/computerphile

ℹ️ Attributions

| Music

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

| Sound Effects

Rewind FX
https://freesound.org/people/TasmanianPower/sounds/162493/

| 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
https://youtu.be/1D0EhSi-vvc

ORB-SLAM2: an Open-Source SLAM for Monocular, Stereo and RGB-D Cameras
Raúl Mur Artal
https://youtu.be/ufvPS5wJAx0

ArduCopter Release V3 - The "expensive multirotor flight system" killer!
Marco Robustini
https://youtu.be/GyPqHeg2v0Y

Video by Mikhail Nilov from Pexels
https://www.pexels.com/video/close-up-video-of-an-analogue-clock-8543863/

Video by RODNAE Productions from Pexels
https://www.pexels.com/video/teacher-giving-instructions-to-his-students-7092068/

💡 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: https://twitter.com/akamatchstic

Видео My Raspberry Pi drone: the story so far канала aka: Matchstic