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://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