In this work, an aircraft is made which is autonomous based on computer vision. In this autonomous aerial vehicle, a flight controller is made by Raspberry pi 3 and two cameras are used as eye called stereo vision. The RC transmitter and RC receiver are used as a secondary control system. A virtual keypad security system which is an HMI technology is also made to protect it. Wi-Fi module is used for on-board communication. The autonomous aerial vehicle is designed to takeoff, fly and land by itself. It is also designed to see around, calculate, communicate onboard and take decisions.

2. Presented by:
Saad Mohammad Araf
ID: WUB 11/13/32/1092
Md. Zaber Al Hamid
ID: WUB 11/13/32/1095
Chanchal Biswas
ID: WUB 11/13/32/1098
Supervised by:
Farhan Mahbub
Assistant Professor
Department of Mechatronics Engineering

3. Contents:
Chapter 1 : Introduction
Chapter 2 : Literature Review
Chapter 3 : Methodology
Chapter 4 : Results and Discussion
Chapter 5 : Conclusion and Recommendation

4. Objectives:
 Design and construction of an Autonomous Aerial
Vehicle.
 To develop a flight controller based on computer
vision.

5. Introduction:
Autonomous Aerial Vehicle:
An Autonomous Aerial Vehicle commonly known as
drone is an aircraft which can fly autonomously without
any human pilot abroad or remote controller.
Computer Vision:
Computer vision is a combination of Image processing
and Artificial Intelligence where a machine earns the
ability to see.
Chap - 1 : Introduction

6. Literature Review: Chap - 2 : Literature Review
Design and construction of mechanical structure of the Autonomous Aerial Vehicle:
Figure : Multi Rotors.
Figure : Hybrid VTOL.Figure : Single Rotor.
Figure: Fixed Wings.

7. Literature Review:
Chap - 2 : Literature Review
Design and construction of mechanical
structure of the Autonomous Aerial Vehicle:
Figure : Stable Aircraft.
Figure : Unstable Aircraft.
Dynamic and Static Stability:
Static stability of an aircraft describes the
tendency of and aircraft to retain its original
position when subjected to unbalanced forces
or moments acting on the aircraft.
Dynamic stability describes the form of
motion an aircraft in static stability undergoes
when it tries to return to its original position.
Unstable Aircraft can gain more altitude.
 Unstable Aircraft can do a line, loop, roll,
spin.

8. Literature Review:
Chap - 2 : Literature Review
Fast Onboard Stereo Vision for
UAVs- Andrew J. Barry, Helen
Oleynikova, Dominik Honegger, Marc
Pollefeys, and Russ Tedrake(November
2, 2015, Massachuttes Institute of
Technology)
Figure: Fast Onboard Stereo Vision for UAVs.
UAV Vision and Control System-
Richard Lane (November 1, 2007,
University of Surrey)
Figure: UAV Vision and Control System.

9. Methodology: Chap - 3 : Methodology
Figure: Block Diagram of Autonomous Aerial Vehicle Based on Computer Vision.
Block Diagram of Autonomous Aerial Vehicle Based on Computer Vision:
WI-FI 232
Automatic Flight Control Unit
Elevon Control Unit
Camera
Main Engine Control Unit
Electronic Speed Control
Video
Receiver
Computer
Vision
Decision System
Memory
Control Unit
Motor
Landing Gear
Control Unit
Servo Motor
Data Collection and
Secondary Control
Unit

10. Methodology: Chap - 3 : Methodology
Figure: Major Components used in Autonomous Aerial
Vehicle based on Computer Vision.
Design and Constructions: Some Major
Components
BLDC Motor
E.S.C
Lipo Battery
Raspberry Pi
RC Transmitter and Receiver
Camera
Wi-Fi Module
Servo Motor

11. Methodology: Chap - 3 : Methodology
Design and construction of mechanical structure of the Autonomous Aerial Vehicle :
Figure : Mig-23.
Figure : F-16 .
Figure : F-22 Raptor.
Figure : J-11.Figure: F-117 Night Hawk.

12. Methodology: Chap - 3 : Methodology
Design and construction of mechanical structure of the aircraft:
Figure : Design of Autonomous
Aerial Vehicle(Top view).
Figure : Design of Autonomous Aerial Vehicle(Front view).
Figure : Design of Autonomous Aerial Vehicle(Front view).

13. Methodology: Chap - 3 : Methodology
Design and construction of mechanical structure of the aircraft:
Figure : The four forces act on an aircraft. Figure: C.G. of the Autonomous Aerial Vehicle.
Figure: Working diagram of Elevon.

14. Methodology: Chap - 3 : Methodology
Computer Vision:
Figure: Diagram of Computer Vision.

15. Methodology::
OpenCV (Open Source Computer Vision
Library) is an open source computer vision
and machine learning software library. The
library has more than 2500 optimized
algorithms.
The currently available algorithms are:
 Eigenfaces (createEigenFaceRecognizer())
 Fisherfaces (createFisherFaceRecognizer())
 Local Binary Patterns Histograms
(createLBPHFaceRecognizer())
 Viola-Jones Object Detection Framework
(cvHaarDetectObjects())
Chap - 3 : Methodology
OpenCV:
Figure: Symbolic representation
of OpenCV.

16. Methodology:
Positive Images.
Negative Images .
Creating Samples .
Haar training.
Covert to XML format .
Chap - 3 : Methodology
Cascade of Images:

17. Methodology:
Drawing Contours
Chap - 3 : Methodology
Different types operation in OpenCV:
Figure: Image Thresholding .
Figure: Drawing Contours . Figure: Edge Detection .
Changing Color spaces Image Thresholding
Edge DetectionFigure: Changing color spaces.

18. Methodology: Chap - 3 : Methodology
Stereo Computer Vision:
Figure: Disparity of two cameras for Stereo vision.

19. Result and Discussion:
Chap - 4 : Result and Discussion
Components Total
Distance(inch)
Total
Weight(g)
Total
Momentum
E.S.C 15.12 25 378
Motor 18.5 50 925
Servo Motors 21 18 378
Receiver 16.12 7 112.84
Battery 13 183 2379
283 4550.84
Aircraft Data:
Calculation of Center of Gravity:
The C.G. is:
Calculation of Speed:
The speed is,
Calculation of Flight Time:
The Flight time is,
Calculation of Velocity to Take off:
The velocity is needed to take off,
We know,

20. Result and Discussion:
Chap - 4 : Result and Discussion
Object Detection:
Figure: Detection of objects
by ‘ZAC-528’.
Figure: Detection of Faces with
identity by ‘ZAC-528’.
Face Detection:
Virtual Keypad Security
System:
Figure: Virtual Keypad Security
System.

21. Result and
Discussion:
Chap - 4 : Result and Discussion
Application:
Civilian uses
Aerial photography Film, video, still, etc.
Agriculture Crop monitoring and spraying;
herd monitoring and driving
Coastguard Search and rescue, coastline and
sea-lane monitoring
Conservation Pollution and land monitoring
Customs and Excise Surveillance for illegal
imports
Electricity companies Power line inspection
Fire Services and Forestry Fire detection,
incident control
Fisheries protection
Figure: Aerial Photography by drone.
Figure: Agriculture crop monitoring and spraying by drone.

22. Result and Discussion:
Chap - 4 : Result and Discussion
Application:
Military roles
Air Force
Long-range, high-altitude surveillance
Radar system jamming and destruction
Electronic intelligence
Airfield base security
Airfield damage assessment
Elimination of unexploded bombs
Navy
Shadowing enemy fleets
Decoying missiles by the emission of artificial
signatures
Electronic intelligence
Relaying radio signals
Protection of ports from offshore attack
Placement and monitoring of sonar buoys and
possibly other forms of anti-submarine
warfare
Army
Reconnaissance
Surveillance of enemy activity
Monitoring of nuclear, biological or chemical
(NBC) contamination
Electronic intelligence
Target designation and monitoring
Location and destruction of land mines
Figure: Drones are used in Military.

23. Result and Discussion:
Chap - 4 : Result and Discussion
Limitation:
Components are very expensive
Flight Time is less
Vision System is Complex

24. Conclusion:
Chap - 5 : Conclusion and Recommendation
This project describes the control, development and construction of
an Autonomous Aerial Vehicle.
This Autonomous Aerial Vehicle has features such as object
detection, face detection, autonomous fly, on-board communication
and virtual security system.
It uses a complex algorithm to fly by itself.
It has an excellent security system to save it from wrong hand.
It has a good database for detection.

25. Recommendation:
Chap - 5 : Conclusion and Recommendation
The more stable plane can be used (Glider).
Cascade can be more updated.
The Database can be more updated.
The Algorithm can be more updated.
The Flight time can be increased.

26. ZAC-528