{"id":875,"date":"2022-02-07T08:35:36","date_gmt":"2022-02-07T07:35:36","guid":{"rendered":"https:\/\/med.upc.edu\/team4-2021\/?page_id=875"},"modified":"2022-05-18T10:00:47","modified_gmt":"2022-05-18T09:00:47","slug":"navigation-without-gps","status":"publish","type":"page","link":"https:\/\/med.upc.edu\/team4-2021\/navigation-without-gps\/","title":{"rendered":"Navigation without GPS"},"content":{"rendered":"\n

Introduction<\/p>\n\n\n\n

In this section we will talk about navigation systems based on optical technology as a source for positioning and navigation. This type of navigation is useful for those places where the satellite signal is not possible. In this work we will use two cameras, the Intel RealSense T256 and the Intel D435. Our group will use the D435, and as its name suggests, it uses RealSense technology. This tecnology uses three separate optical scanners, a 1080p high-definition optical camera, an infrared camera and an infrared laser projector, to read the environment around you. Working together, these three optical scanners can detect depth, detect human movement, and scan 3D objects with accuracy and precision. To meet diverse needs and use cases, this technology is further offered in two different applications: short-range and long-range.<\/p>\n\n\n\n

RealSense Short Range Camera \u2013 The RealSense Short Range Camera is ideal for home and office applications. It detects hand gestures and facial features, and can scan objects close to the camera. The RealSense Short Range Camera is best suited for indoor use at close range, making it perfect for the individual user who wants to explore new ways to interact with their device.
RealSense Long Range Camera \u2013 While the RealSens Short Range Camera is designed for indoor use at close range, the RealSense Long Range Camera is ideal for outdoor and indoor use at greater distances<\/p>\n\n\n\n

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Intel RealSense D435<\/figcaption><\/figure><\/div>\n\n\n\n

Protection against vibrations.<\/p>\n\n\n\n

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We have decided to put a foam protector between the camera and the drone chassis and fasten it with a cable tie. The ideal would be to be able to manufacture with a 3D printer a protective case for the camera.<\/figcaption><\/figure><\/div>\n\n\n\n

Best location of the camera and protection against brivations.<\/p>\n\n\n\n

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@Francesc Sancho Capdevila, Final setup of the camera.<\/figcaption><\/figure><\/div>\n\n\n\n

Objectives<\/p>\n\n\n\n

1.Analysis of the location of the camera on the drone.<\/strong><\/p>\n\n\n\n

As we have previously mentioned, the model we use in our project is the Hexsoon EDU450, this model is a quadcopter drone. This drone has been assembled in our classrooms and there is a link on our blog where you can find the assembly description.<\/p>\n\n\n\n

.https:\/\/med.upc.edu\/team4-2021\/assembly\/<\/a><\/p>\n\n\n\n

HEXSOON EDU450<\/strong><\/p>\n\n\n\n

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https:\/\/rotorbuilds.com\/build\/24081<\/a><\/figcaption><\/figure><\/div>\n\n\n\n

It is important to note that we will use the camera for indoor navigation (distance detection) traking the objects and the depth of the frame (x,y and z position axis) and getting the objtect in 3D. Therefore seeing as much of the scene as possible is vitally important. With a range up to 10m the main problems we will face will be vibrations and interference from the drone’s propellers and chassis.<\/p>\n\n\n\n

We believe that the best place to mount the camera on this particular drone is on the bottom<\/strong>, away from the propellers and out of the field of view of the chassis. Likewise, it would be interesting to be able to isolate the camera from vibrations by putting some kind of foam between the camera and the chassis to attenuate vibrations.<\/strong><\/p>\n\n\n\n

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Camera at bottom of the central chassis<\/figcaption><\/figure><\/div>\n\n\n\n

<\/p>\n\n\n\n

2 Study of the state of the art on the use of the Intel RealSense T265\/D435 camera for navigation in drone applications<\/strong><\/p>\n\n\n\n

Creation of a database with links to scientific articles, works, algorithms that can be used, videos\u2026etc.<\/p>\n\n\n\n

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INDEX of articles, works and algorithms.<\/th><\/tr><\/thead>
1.Article:Evaluation of the Intel RealSwesne T265 for tracking natural human head motion<\/strong><\/td><\/tr>
2.Article: Low cost indoor navigation system for drones<\/strong><\/td><\/tr>
3.What is SLAM<\/strong>?<\/td><\/tr>
4.SLAM Visual<\/strong><\/td><\/tr>
5.SLAM with LIDAR<\/strong><\/td><\/tr>
6.Algorithms<\/strong><\/td><\/tr>
Kalman Filter
Particle filters
Covariance intersection<\/td><\/tr>
7.Intel Movidius Myriad Vision Processing Unit<\/strong><\/td><\/tr>
8.What is VPU?<\/strong><\/td><\/tr>
9.How to install D435 camera, Windows and Linux. (Video)<\/strong><\/td><\/tr>
<\/td><\/tr><\/tbody><\/table><\/figure>\n<\/div><\/div>\n\n\n\n

1.Article: Evaluation of the Intel RealSense T265 for tracking natural human head motion<\/strong>.<\/p>\n\n\n\n

Peter Hausamann, Christian B. Sinnott, Martin Daumer, Paul R. MacNeilageSci Rep. 2021; 11: 12486. Published online 2021 Jun 14.<\/p>\n\n\n\n