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NYCU-Computer-Vision-for-UAV-Autopilot

environment setup

  • python=3.9
# install all the required python packages
pip install -r requirements.txt

Labs

  • Lab1

    • Environment Setup (conda virtual environment)
    • OpenCV Basics
    • Image Processing
    • Image Filtering
    • Interpolation
    • Edge Detection

  • Lab2

    • Color picture histogram equalization
    • Optimized Otsu Threshold algorithm
    • Connected Component by Two-Pass Algorithm with disjoint set data structure

  • Lab3

    • Camera calibartion for camera intrinsic parameters
      • Implement the Zhang's method for camera calibration
    • Wrap perspective transformation for real time camera capture
      • Camera will be mapped to the embedded space of the image
      • Utilizing homography matrix.

  • Lab4

    • Marker detection
      • Show the detected markers on the image
      • Show distance between markers and the camera

  • Lab5

    • Utilize PID to control the drone
      • Implement the PID controller and keyboard controller for the drone
      • PID controller will help adjust speed to reach the marker

  • Lab6

    • Implement the drone autopilot
      • Go to the marker
      • Go right
      • Go to the second marker
      • Go left
      • Land

  • Midterm

    • Implement the drone autopilot
      • Marker tracing
      • Marker following
      • Auto rotation, forward, left, right, up, down
      • Auto Land

  • Lab7

    • Object detection
      • Using HOG to detect pedestrian
      • Using Haar cascade to detect face
      • Solve PnP with 4 points to get the distance between camera and object