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Seeker

This repository contains prototype algorithms for quadcopter which executes autonomous missions. Precise landing on Aruco markers, depth estimation and obstacle avoidance with stereo cameras.

Libraries: OpenCV(version 4.0), Dronekit, Numpy, Matplotlib(for 2D-3D Plotting), Skimage, Pytesseract(for text reading)

Quadcopter Specifications
Frame: 7 inch Hybrid-X configuration
Running Firmware: https://firmware.ardupilot.org/Copter/latest/KakuteF7/ (will be upgrated to INAV 4.0)
Flight Controller: Holybro Kakute F7 (http://www.holybro.com/product/kakute-f7-v1-5/)
Companion Computer: Raspberry Pi 4 Compute Module + StereoPi V2 (https://www.stereopi.com/v2)
Communication: Over WIFI with ESP32-M1-Reach-Out (https://www.crowdsupply.com/bison-science/esp32-m1-reach-out)
GPS: http://www.mateksys.com/?portfolio=m9n-f4
ESC: Tekko32 F3 45A 4 In 1 Blheli 32 3-6S Brushless ESC
Motors: iflight XING 2450KV Brushless Motor x4 (will be upgraded to https://shop.iflight-rc.com/quad-parts-cat20/motors-cat26/xing-motors-cat148/xing-x2806-5-fpv-nextgen-motor-pro1001)
Cameras: -For landing: https://www.waveshare.com/imx335-5mp-usb-camera-a.htm (auto focus version recommended) -For object avoidance and mapping: https://www.waveshare.com/imx219-160-camera.htm x2

FPV components are used for testing, troubleshooting and safety purposes only.

Build Camera Calibration Camera Calibration Results

ArucoMarkerDetection

DepthCalibration