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Recent content by pgminin

  1. pgminin

    Cancel Automatic Positioning

    Well, you need light for vision positioning system stabilization, with low light you disable this system and Tello drifts because the camera cannot detect undesired movements and compensate them.
  2. pgminin

    What unit of measurement the received velocity is expressed?

    You are right, vx, vy, vz are in dm/s!
  3. pgminin

    How dark can my drone fly in

    I had some fly away in the late sunset with bright sky but all the ground dark in shadow.
  4. pgminin

    Return to home and person avoidance (under dev)

    Hi, I don't need to access camera data (pixels), processed values from that camera and other sensors are in the Tello State string. What I use for odometry are time related vgx and vgy.
  5. pgminin

    Return to home and person avoidance (under dev)

    Position estimation using downward camera visual odometry, person detection using frontal camera. Autonomous return to home and person avoidance under development for my app Tello Vision 1D. Here some screenshots of visual odometry tracks from telemetry data
  6. pgminin

    takeoff to a specific height

    Simple proportional control: error = desired_h - measured_h up_speed = Kp * error Where Kp is a tuning gain determined by experiment!
  7. pgminin

    What I need to learn to use Tello Low-Level Protocol?

    Maybe you can learn everything from this python implementation: https://github.com/hanyazou/TelloPy/blob/develop-0.7.0/tellopy/_internal/protocol.py
  8. pgminin

    Tello localization using downward and frontal cameras, landmarks map, and a particle filter

    Very interesting, I will investigate 3df zephyr performance on my orbit, I see the 50 images limitation for the free version but your result is very promising. I think that my distance estimation and localization are pretty noisy and not so good to improve the full bundle adjustment...
  9. pgminin

    Tello localization using downward and frontal cameras, landmarks map, and a particle filter

    Ok now I see it. Overall it's not so bad, I did the same outdoor with a full orbit and the quality of my 3d was very low (worst than yours) so I did not publish the result yet. Here is a quick screen image of the 3d model using COLMAP for 3d reconstruction from video frames of the orbit...
  10. pgminin

    Tello localization using downward and frontal cameras, landmarks map, and a particle filter

    Hi, what sw did you use? The scene.pdf seems to be blank
  11. pgminin

    Tello localization using downward and frontal cameras, landmarks map, and a particle filter

    Hi, thank you for your nice words. I have more ideas than time to develop all of them. Now I'm working on Simultaneous Localization and Mapping and the idea is to port those algorithms on my Android App. At the same time, I'm evaluating the bundle adjustment problem with dense reconstruction. A...
  12. pgminin

    Tello localization using downward and frontal cameras, landmarks map, and a particle filter

    Monte Carlo Localization for Tello Tello downward camera is used for motion estimation: position is integrated from optical flow velocity estimation (dead-reckoning). Tello frontal camera is used for observation estimation: landmarks (bottles) are detected using deep learning, and drone...
  13. pgminin

    Monocular camera based drone navigation using a ORB_SLAM2 prebuilt map (ROS) ---- Advanced features

    Are you from KAIST?? I know KAIST from the great victory of the team at Darpa Robotics Challenge in 2015!! Another question, does prebuilt map mean that this is just online full localization?
  14. pgminin

    Tello Localization: Odometry

    Well, you don't need a radar because you have the tof (time of flight) altimeter! It works well under 10 m of heigth.
  15. pgminin

    Tello Localization: Odometry

    "Speed estimation is inaccurate and sometimes ia unreliable". In those words there is the odometry problem! Because even if after a while you recover a good speed estimation the errors are yet injected in the position estimation, and you can't recover it. So position estimation from speed is...

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