research
ntu uav research
obstacle detection and avoidance on a dji tello drone using deep learning depth estimation and image processing
// docs
01 Report
Technical Report: Real-Time Drone Obstacle Avoidance
Full system documentation: ZoeDepth depth estimation, UWB localisation, obstacle segmentation pipeline, APF controller formulation, safety architecture, and known limitations.
02 Experiment Notes
Setup, Calibration, Tuning, and Observations
Lab setup and UWB anchor placement, camera calibration procedure, depth model evaluation, APF parameter sensitivity, PyBullet simulation experiments, live flight protocol, and observed failure modes.