3 years. A university degree. A rediscovery. This is the story (so far) of my Raspberry Pi powered drone. This project is a monster. I started it in late 2017 for my university degree, aiming to create a drone that maps indoor spaces using photogrammetry. I've covered everything done from that time through to 2021 in this video! Very much looking forward to where I take this project next! 00:00 - Intro 01:10 - Build (v1.0) 02:10 - Flight software 03:17 - Indoor Positioning 05:01 - Photogrammetry 06:28 - Testing 07:53 - Analysis 09:16 - Rediscovery 09:47 - Fixes 10:54 - Build (v2.0) 12:04 - Hello, world 13:39 - What's next? 🌐 Links Dissertation: https://akamatchstic.com/files/dissertation-mclarke-2018.pdf Computerphile: null ℹ️ Attributions | Music Music: https://www.bensound.com/ Music: https://www.purple-planet.com/ | Sound Effects Rewind FX https://freesound.org/people/TasmanianPower/sounds/162493/ | Iconography bqlqn from Flaticon https://www.flaticon.com/authors/bqlqn Freepik from Flaticon https://www.freepik.com/ Twemoji https://twemoji.twitter.com/ | Video Photogrammetry 2 – 3D scanning with just PHONE/CAMERA simpler, better than ever! Prusa 3D by Josef Prusa https://www.youtube.com/watch?v=1D0EhSi-vvc ORB-SLAM2: an Open-Source SLAM for Monocular, Stereo and RGB-D Cameras Raúl Mur Artal https://www.youtube.com/watch?v=ufvPS5wJAx0 ArduCopter Release V3 - The "expensive multirotor flight system" killer! Marco Robustini https://www.youtube.com/watch?v=GyPqHeg2v0Y Video by Mikhail Nilov from Pexels https://www.pexels.com/video/close-up-video-of-an-analogue-clock-8543863/ Video by RODNAE Productions from Pexels https://www.pexels.com/video/teacher-giving-instructions-to-his-students-7092068/ 💡 Research Papers OpenMVS: Multi-View Stereo Reconstruction Library. (2020). Cernea, Dan. Available: https://cdcseacave.github.io/openMVS Structure-from-Motion Revisited. (2016). Schönberger, Johannes Lutz and Frahm, Jan-Michael Conference on Computer Vision and Pattern Recognition (CVPR). Pixelwise View Selection for Unstructured Multi-View Stereo. (2016). Schönberger, Johannes Lutz and Zheng, Enliang and Pollefeys, Marc and Frahm, Jan-Michael. European Conference on Computer Vision (ECCV) ⚙️ Drone Hardware - Raspberry Pi Zero W - Raspberry Pi Camera Module - Erle Robotics PXFmini (no longer available) - Erle Robotics Power Module (no longer available) - Martian II 250 frame - Battery (LiPo, 3S, 2200mAh, 40C) - 4x Racerstar RS30A V2 30A (ESCs) - 2x MultiStar V-Spec 2205 CW (Motors) - 2x MultiStar V-Spec 2205 CCW (Motors) - 4x Gemfan Multirotor CRP Propeller 6x4.5 (CCW and CW) 🧐 Social Stuff Twitter: https://twitter.com/akamatchstic