Participated in imitating an omni-directional copter based on Raff D’Andrea’s omnicopter demonstrated in TED talks and other videos. Improved spot hovering accuracy and moving precision by using Pozyx indoor localization system.
Applied Runge-Kutta 3th Order Method and quarternion theory to the calculation of 9-axis inertial parameters based on raw data from JY901 IMU and visualized UAV’s motion trajectory and posture with respect to time steps.
Conducted research on dense stereo SLAM in dynamic surroundings with RTAB-MAP on the basis of Visual Odometry. Added Optical Flow as well as YOLO for auxiliary support to detect moving objects in frames and ruled them out when extracting feature points and mapping.