Scroll to top Flexible Stereo: Long-Range Depth Estimation Keywords: Depth Estimation, Visual-Inertial State Estimation, EKF Long-range depth estimation is crucial for fast-flying UAVs. Depth cameras, radars and LiDARs are either too heavy, bulky, expensive and/or do not meet the range and resolution requirements. For fixed-wing UAVs it is tempting to mount cameras on the wings for a maximum stereo baseline and minimized depth uncertainty (cf. Fig. 1 and Fig. 2). However, as shown in Video 1, the wings are non-rigid. A camera mounted inside the fuselage is looking at the wing-tip cameras that have apriltags mounted. Inertial measurements, visual measurements and relative pose priors are fused in an EKF. Given the estimated relative poses, standard stereo blockmatching is used to compute the depth images and 3D point cloud. More information can be found in Paper [1], [2].

Scroll to top Deep Learning Based Human Detection Keywords: Object Detection/Tracking/Localization For a project with the Swiss-Air Rescue Organization Rega , I designed and implemented the hardware and software for a human detection, tracking, and localization framework. A large amount of realistic data was collected with a drone equipped with an optical-infrared camera rig. The annotated data was then used to train state-of-the-art detectors like YOLO and retinanet. The project has been featured in several news articles and TV reports. More information can be found in the preprint [1].