scepter914 / TelloFollowingPerson

TelloFollowingPerson

TelloFollowingPerson is application of drone following person. This is a sample code of conection between TelloPy and detection algorthm sample of ChainerCV.

!! Caution !!

• It is dangerous for a drone to fly automatically
• You can use this code at your own risk
  • Because of individual difference of drones, these codes always don't work well.
  • When your drone fly, you should check if anyone wasn't around the drone.

OS and library version

• Ubuntu
  • Test by Ubuntu18.04LTS
• python3.6
• chainer==5.0.0
• chainercv==0.11.0
• Tellopy==0.6.0
  • https://github.com/hanyazou/TelloPy

Installation

# General dependencies
sudo apt-get install -y python-dev pkg-config 

# Library components
sudo apt-get install -y libavformat-dev libavcodec-dev libavdevice-dev libavutil-dev libswscale-dev libswresample-dev libavfilter-dev

sudo pip3 install tellopy av opencv-python image chainer chainercv

• if error at installing pyav
  • https://docs.mikeboers.com/pyav/develop/installation.html

Docs

• blog(Japanese)
  • https://scepter914.github.io/blog/2019/20190107_tellodetection/

Algorithm

1. Initialize: the drone take off
2. loop
   1. The drone get a image and send hostPC
   2. Detection task at hostPC and get position of person in the image
   3. Control the actuation of the drone

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Control

• ↑ ↓ → ← : control drone as object move center
• Forward and Backward: Use size of bounding box
  • bigger than a threshold : Backward
  • smaller than a threshold : Forward