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GeoMonday 2015.3 – A practical guide to use drones

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In this presentation it is shown a complete workflow for 3D-Reconstruction using a civil drone and getting structure-from-motion (SFM) technologies. Security issues and legal aspects are also considered.

The following questions and actions are discussed and
performed:

what is the minimum set for a drone mission (Hardware and Software Requirements)
basics for flying a drone, Safety and Security and legal aspects
basics to prepare an autonomous flight
concrete steps to prepare and fly the mission
how to process the data (image data)
e.g. how to get still images from a video stream and more
practical aspects about photogrammetry, especially stereo photogrammetry
define the workflow for 3D reconstruction using commercial software.
Fischer-mit-DrohneArno Fischer is a Professor for Operating Systems and Computer Networks at the University of Applied Sciences Brandenburg (FHB). He has been working on drone technologies: Anticollision Systems (Detect and Avoid), Attitude Control, Safety and Security for Drones, Civil Applications and Use Cases with Drones and Teaching Concepts. On Behalf of FHB he is member of UAV-DACH and DIN (NA 131-01-01 AA Arbeitsausschuss Unbemannte Luftfahrtsysteme).

Published in: Technology
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GeoMonday 2015.3 – A practical guide to use drones

  1. 1. A practical guide to use drones   Geomonday 2015 , Arno Fischer  Potsdam, 14.09.2015
  2. 2. Fachhochschule Brandenburg · University of Applied Sciences City of Brandenburg Brandenburg an der Havel is more then 1000 years old it is the birthplace of the County of Brandenburg You see the Old Town hall with „Roland“ figure
  3. 3. Fachhochschule Brandenburg · University of Applied Sciences City of Brandenburg Main streetCity tower
  4. 4. Fachhochschule Brandenburg · University of Applied Sciences Brandenburg an der Havel Wir übernehmen Verantwortung für die Fachkräftesicherung und den Technologietransfer in unserer Region Population: 71.000 (now stable) Average age: 47 years (Germany: 43 years)
  5. 5. Fachhochschule Brandenburg · University of Applied Sciences Brandenburg University of Applied Sciences - General Facts • Founded in 1992 • 3000 students, including more than 240 internatio- nal students from more than 65 countries •3 departments: Informatics and Media, Engineering, Business and Management
  6. 6. Fachhochschule Brandenburg · University of Applied Sciences Campus at 1910 – preussian cavalry area
  7. 7. Fachhochschule Brandenburg · University of Applied Sciences Campus at 2015 - Main Building
  8. 8. Fachhochschule Brandenburg · University of Applied Sciences Campus – sports acitities Newest activity is gliding
  9. 9. Fachhochschule Brandenburg · University of Applied Sciences Machine hall from the department of engineering
  10. 10. Fachhochschule Brandenburg · University of Applied Sciences Our Library was a stable in former times
  11. 11. Fachhochschule Brandenburg · University of Applied Sciences Our strength • Campus university (residence, sports facilities, library on campus) • High quality in applied teaching and learning (top positions in rankings) • Individual counselling and small study groups • Strong research • Links to research cluster Berlin and Potsdam!
  12. 12. Fachhochschule Brandenburg · University of Applied Sciences Study courses Faculty of Computer Sciences and Media Grade Applied Computer Science (international) B. Sc. Digital Media M. Sc Computer Sciences B. Sc. Computer Sciences M. Sc. Media Informatics (online) B. Sc. Media Informatics (online) M. Sc. Medical Informatics B. Sc. Faculty of Engineering Elektronics B. Eng. Mechanical Engineering B. Eng. Mechatronics und Automation B. Eng. Micro System Engineering and Optical Technologies B. Eng. Power Efficiency of Technical Systems M. Eng. Computer Aided Robust Engineering M. Eng. Faculty of Economics Business Administration - General Management B. Sc. Business Administration - Internationales Management M. Sc. Business Administration (Long Distance Study) B. A. Security Management M. Sc. Technology and Innovation Management M. Sc. Business Informatics B. Sc. Business Informatics - Information Process Management M. Sc. 24 years Fachhochschule Brandenburg 13
  13. 13. Fachhochschule Brandenburg · University of Applied Sciences Profile in Research Focus Topics: • Power Efficiency of Technical Systems and Robust Engineering • Computer Applications in Medicine • Security • Innovation Management • Drone technologies, Detect & Avoid, Anticollision Systems 24 years Fachhochschule Brandenburg 9
  14. 14. Fachhochschule Brandenburg · University of Applied Sciences workflow for 3D-Reconstruction Security issues and legal aspects questions and actions: • what is the minimum set for a drone mission (Hardware and Software Requirements) • basics for flying a drone, Safety and Security and legal aspects • basics to prepare an autonomous flight • concrete steps to prepare and fly the mission • how to process the data (image data) • e.g. how to get still images from a video stream and more • practical aspects about photogrammetry, especially stereophotogrammetry • define the workflow for 3D reconstruction using commercial software • Legal aspects 24 years Fachhochschule Brandenburg 9
  15. 15. Fachhochschule Brandenburg · University of Applied Sciences Basics for Flying a Drone - Drones at FH Brandenburg 24 years Fachhochschule Brandenburg 9 • Parrot SA AR.Drone 2.0 Entry level to understand flying drones, RPAS • UAV Oktokopter XL (mikrokopter.de) Medium level, modular designed, RPAS and autonomous flights
  16. 16. Fachhochschule Brandenburg · University of Applied Sciences Basics for Flying a Drone - Drones at FH Brandenburg 24 years Fachhochschule Brandenburg 9 • 3DRobotics IRIS+ • 3DRobotics Aero
  17. 17. Fachhochschule Brandenburg · University of Applied Sciences Basics for Flying a Drone - Drones at FH Brandenburg 24 years Fachhochschule Brandenburg 9
  18. 18. Fachhochschule Brandenburg · University of Applied Sciences Basics for Flying a Drone - minimum set for a drone mission 24 years Fachhochschule Brandenburg 9 •Drone frame with motors and propellers •Battery •RC transmitter and receiver •Autopilot (flight controller, navigation control, sensors) •GNSS (gps module,...) •Ground station with mission planner software and a radio telemetry link
  19. 19. Fachhochschule Brandenburg · University of Applied Sciences Basics for Flying a Drone - Soft Skills 24 years Fachhochschule Brandenburg 9 "Learn to use checklists for flight preparation“ "Learn to be responsible and team-oriented“ "One second of inattention or a programming error can lead to serious damage“ Learning steps and exercises: 1. training with flight simulation software 2. RPAS training tasks 3. Autonomous flight projects
  20. 20. Fachhochschule Brandenburg · University of Applied Sciences Basics for Flying a Drone - MultiCopter Safety • Your first priority must be the safety of people! • Crashes can happen, because of pilot error or hardware or software malfunction. • If you are flying anywhere near other people, you are putting them at risk! • If you are flying too high or near airports you are putting manned aircraft and the people on them at risk! • Always ensure the battery cable is NOT connected to the power distribution board or harness until you are ready to fly. • Especially while you are learning, it is recommended that you avoid expensive, stiff, ultra- sharp carbon fiber props. • Important primary response to a crash, inadequate landing or unknown flight controller state, when testing or flying any of the (waypoint) navigation modes (using GPS): • Always follow the law Most important: Keep a safe distance between your Copter and People! 24 years Fachhochschule Brandenburg 9
  21. 21. Fachhochschule Brandenburg · University of Applied Sciences Basics to prepare an autonomous flight •A simple multicopter becomes a UAV or Drone when it is capable of autonomous flight. •Normally this means taking the accelerometer and gyro information and combining it with barometer and GNSS (GPS, GLONASS, Beidou und Galileo,......) data and compass so the flight controller understands not only it’s orientation but also it’s position. •A Ground station with mission planner software which talk to the drone, send it a mission plan (so called Way Points) and controls the execution 24 years Fachhochschule Brandenburg 9
  22. 22. Fachhochschule Brandenburg · University of Applied Sciences Basics to prepare an autonomous flight In more details a Mission Planner, supports the following features: •Point-and-click waypoint entry, using Google Maps. •Full ground station for monitoring missions and sending in-flight commands. •Select mission commands from drop-down menus •See sensor output and test autopilot performance •Download mission log files and analyze them •Configure autopilot settings for your airframe •And much more 24 years Fachhochschule Brandenburg 9
  23. 23. Fachhochschule Brandenburg · University of Applied Sciences 3D-Reconstruction – mission plan 24 years Fachhochschule Brandenburg 9
  24. 24. Fachhochschule Brandenburg · University of Applied Sciences 3D-Reconstruction – FH Brandenburg 24 years Fachhochschule Brandenburg 9
  25. 25. Fachhochschule Brandenburg · University of Applied Sciences 3D-Reconstruction 24 years Fachhochschule Brandenburg 9 Source: Digital Photogrammetry A Practical Course/Wilfried Linder/Springer-Verlag Berlin Heidelberg 2009
  26. 26. Fachhochschule Brandenburg · University of Applied Sciences 3D-Reconstruction 24 years Fachhochschule Brandenburg 9 Source: Digital Photogrammetry A Practical Course/Wilfried Linder/Springer-Verlag Berlin Heidelberg 2009
  27. 27. Fachhochschule Brandenburg · University of Applied Sciences 3D-Reconstruction 24 years Fachhochschule Brandenburg 9 Source: Digital Photogrammetry A Practical Course/Wilfried Linder/Springer-Verlag Berlin Heidelberg 2009
  28. 28. Fachhochschule Brandenburg · University of Applied Sciences 3D-Reconstruction 24 years Fachhochschule Brandenburg 9 Source: Digital Photogrammetry A Practical Course/Wilfried Linder/Springer-Verlag Berlin Heidelberg 2009
  29. 29. Fachhochschule Brandenburg · University of Applied Sciences 3D-Reconstruction 24 years Fachhochschule Brandenburg 9 Source: Digital Photogrammetry A Practical Course/Wilfried Linder/Springer-Verlag Berlin Heidelberg 2009
  30. 30. Fachhochschule Brandenburg · University of Applied Sciences Mission example flight hall – simple part 24 years Fachhochschule Brandenburg 9
  31. 31. Fachhochschule Brandenburg · University of Applied Sciences Mission example flight hall – option part 24 years Fachhochschule Brandenburg 9
  32. 32. Fachhochschule Brandenburg · University of Applied Sciences Mission example flight hall – camera part 24 years Fachhochschule Brandenburg 9
  33. 33. Fachhochschule Brandenburg · University of Applied Sciences Mission example flight hall – mission map 24 years Fachhochschule Brandenburg 9
  34. 34. Fachhochschule Brandenburg · University of Applied Sciences Mission example flight hall – mission map 24 years Fachhochschule Brandenburg 9 • First trial: take only one from 100 images • Means all 40 m one picture • Poor result
  35. 35. Fachhochschule Brandenburg · University of Applied Sciences Mission example flight hall – mission map 24 years Fachhochschule Brandenburg 9 • First trial: take only one from 100 images • Means all 40 m one picture • Poor result
  36. 36. Fachhochschule Brandenburg · University of Applied Sciences Mission example flight hall – mission map 24 years Fachhochschule Brandenburg 9 • 1773 images • 141 sec flight time • each 0,4 m one picture in raw data • Take from each 10 images one image • 177 images were used
  37. 37. Fachhochschule Brandenburg · University of Applied Sciences Mission example flight hall – mission map 24 years Fachhochschule Brandenburg 9 • 1773 images • 141 sec flight time • each 0,4 m one picture in rwa data • Take from each 10 images one image • 177 images were used
  38. 38. Fachhochschule Brandenburg · University of Applied Sciences Mission example flight hall – mission map 24 years Fachhochschule Brandenburg 9 • 1773 images • 141 sec flight time • each 0,4 m one picture in raw data • Take from each 10 images one image • 177 images were used
  39. 39. Fachhochschule Brandenburg · University of Applied Sciences Legal basics and requirements • Legal privacy regulations – a new law arise soon • Additional regularities (see next slide) Needs for advancement approval from the state aviation authority, liability insurance, keeping other restrictions, eg Prohibition to fly over crowds • Flight permission (see next slide) Compliance with all the rules of aviation, e.g. near airports Permission of the property owner • Regulatory authoritiesKnowledge of the country, and federal aviation authorities and agencies • Integration of UAVs into normal airspace operation • Safety measurements o Collision control with different drones (subject of further studies, e.g. approaches like "FLARM") o Mobile Aircraft Tracking System
  40. 40. Fachhochschule Brandenburg · University of Applied Sciences Legal basics and requirements
  41. 41. Fachhochschule Brandenburg · University of Applied Sciences Airspace structure – flight permission The International Civil Aviation Organization (ICAO) has set an airspace structure with different airspace classes e.g. C (Charlie) and G (Golf)."Do not fly into Charlie..." Source: http://de.wikipedia.org/wiki/Luftraum
  42. 42. Fachhochschule Brandenburg · University of Applied Sciences Project today: try to get a 3D model of the hotel 24 years Fachhochschule Brandenburg 9 •plan an own mission using missionplanner (download and see more: http://copter.ardupilot.com/ ) •Fly the mission •Extract still images from the video •Let photoscan do the 3D work •Hopfully we get the results before our party
  43. 43. Fachhochschule Brandenburg · University of Applied Sciences Project today: try to get a 3D model of the hotel 24 years Fachhochschule Brandenburg 9
  44. 44. Fachhochschule Brandenburg · University of Applied Sciences Project today: try to get a 3D model of the hotel 24 years Fachhochschule Brandenburg 9
  45. 45. Fachhochschule Brandenburg · University of Applied Sciences Project today: try to get a 3D model of the hotel 24 years Fachhochschule Brandenburg 9
  46. 46. Fachhochschule Brandenburg · University of Applied Sciences Project today: try to get a 3D model of the hotel 24 years Fachhochschule Brandenburg 9
  47. 47. Fachhochschule Brandenburg · University of Applied Sciences Project today: try to get a 3D model of the hotel 24 years Fachhochschule Brandenburg 9
  48. 48. Fachhochschule Brandenburg · University of Applied Sciences Project today: try to get a 3D model of the hotel 24 years Fachhochschule Brandenburg 9
  49. 49. Fachhochschule Brandenburg · University of Applied Sciences Project today: try to get a 3D model of the hotel 24 years Fachhochschule Brandenburg 9

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