drone-tracking-toolkits

KO | EN

gitlite — search

#hacktoberfest #react #typescript #golang #docker #nodejs #macos #java #awesome #cli #awesome-list #security #mcp #openai

drone-tracking-toolkits

(★ 23)

Measuring Drone Trajectory using Total Stations with Visual Tracking [IPA '20 @ ETH]

drone-tracking-toolkits Latest Version Download

Download Latest Version (.zip)

// repository documentation

Was this content helpful?

★ 0 (0 ratings)

# drone-tracking-toolkits
This repository is for the IPA project [Measuring Drone Trajectory using Total Station with Visual Tracking](https://sirop.org/app/f76aed5f-95af-43db-a302-47ae994b03be) at ETH IGP.

Student: Yue Pan

Supervisor: Dr. Cenek Albl, et al.

---

[**[Presentation slide]**](https://github.com/YuePanEdward/drone-tracking-toolkits/blob/main/doc/IPA_presentation-YuePan-20201217.pdf) [**[Report]**](https://ethz.ch/content/dam/ethz/special-interest/baug/igp/photogrammetry-remote-sensing-dam/documents/pdf/Student_Theses/IPA_YuePan.pdf)

----

### Abstract

In this project, we managed to construct a **visual drone tracking and positioning dataset** collected by a multi-sensor system, including a **total station**, on-board sensor kits, and an ad-hoc **network of cameras**.

By leveraging high accuracy total station measurements and sensor fusion techniques such as the extended Kalman filter, the absolute positioning accuracy for the drone’s body center in the local frame can be better than **one centimeter**. By employing a radio-synchronized network of audio triggers, we can recognize the triggering pattern from the audio signal of each video, thus accomplishing the synchronization among the videos with sub-frame accuracy. The overall synchronization time delay of the system is about **10 milliseconds** after aligning all the measurements’ timestamp to the referenced PC time.

### Dataset acquired using the toolkit

*Drone visual tracking and trajectory reconstruction dataset* [**[link to the dataset]**](https://github.com/CenekAlbl/drone-tracking-datasets)

![alt text](https://raw.githubusercontent.com/YuePanEdward/drone-tracking-toolkits/main/doc/imgs/dataset_overview.jpg)

### Frames overview
![alt text](https://raw.githubusercontent.com/YuePanEdward/drone-tracking-toolkits/main/doc/imgs/pose_overview.jpg)

### Synchronization overview
![alt text](https://raw.githubusercontent.com/YuePanEdward/drone-tracking-toolkits/main/doc/imgs/sync_overview.jpg)

-----

### How to use:
The codes are written in Matlab (R2019b).

0. **Prepare instruments** [(checklist)](https://github.com/YuePanEdward/drone-tracking-toolkits/blob/main/doc/experiment_checklist.pdf):

Leica total station with GeoCOM

Drone assembled with Pixhawk and Leica 360 ° prism

Radio-synchronized network of audio triggers

1. **Measurements on site**:

Run ```codes\measure\tps_geocom\main_tps.m``` to realize total station tracking via [GeoCOM](http://webarchiv.ethz.ch/geometh-data/student/eg1/2010/02_deformation/TPS1200_GeoCOM_Manual.pdf).

Run ```codes\measure\radio_sync\audio_trigger_auto.m``` to launch the radio-synchronized audio triggering system for joint synchronization.

2. **Data post-processing**:

Run ```codes\postprocess\pose\drone_data_loader.m``` to load the drone log file in [Pixhawk](https://pixhawk.org/) format.

Run ```codes\postprocess\pose\get_tran_lt.m``` to accomplish resection (transformation from the total station frame to local ENU frame).

Run ```codes\postprocess\pose\get_drone_pose.m``` to estimate the drone's pose in local ENU frame using total station and onboard sensors' measurements.

-----

#### Useful links:

[Drone tracking and trajectory reconstruction dataset](https://github.com/CenekAlbl/drone-tracking-datasets)

[Reconstruction of 3D flight trajectories from ad-hoc camera networks (IROS '20)](https://arxiv.org/abs/2003.04784)[[Codes]](https://github.com/CenekAlbl/mvus)

#### Acknowledgement:

Special thanks to Prof. Dr. Konrad Schindler, Dr. Cenek Albl, Dr. Jemil Butt, Andreas Baumann-Ouyang, Alexander Wolf, Thomas Posur, Tom Manu, Usvyatsov Mikhail and Mudathir Awadaljeed from [ETH Zurich Institute of Geodesy and Photogrammetry](https://igp.ethz.ch/) for the supervision, advice and help during the project.

drone-tracking-toolkits

drone-tracking-toolkits Latest Version Download

Today's picks

Was this content helpful?

Recent Feedback

drone-tracking-toolkits

drone-tracking-toolkits Latest Version Download

Today's picks

Was this content helpful?

Recent Feedback

Download README