Stereo depth mapping with OpenCV and Jetson Nano | DIY drone pt. 2
Channel: aka: Matchstic
Date: 07/09/2021

The challenge: to program a drone to follow me autonomously. To start, I taught an Nvidia Jetson Nano how to see in 3D!

Last time around, I covered the backstory of my drone, which you can check out here: https://youtu.be/ZCOlT_sz6Gs

In this video, I'm covering:

- Unboxing and mini review of the Nvidia Jetson Nano
- Research into stereo depth mapping algorithms
- Comparision of StereoBM and StereoSGBM

Its much more "concept-orientated" in this video!

My goal is super ambitious, which is why I'm splitting up the steps needed into separate videos. This is part 2 of many!

00:00 - Intro
01:21 - Unboxing
02:11 - Impressions of the Nano
03:13 - Development Setup
04:01 - OpenCV
04:14 - Calibration
04:57 - Algorithms
06:33 - Comparison
07:33 - Other Approaches
08:13 - Wrapping Up

🌐 Links

Nvidia Jetson Nano
https://developer.nvidia.com/embedded/jetson-nano-developer-kit

Stereo camera (WaveShare IMX219-83)
https://www.waveshare.com/imx219-83-stereo-camera.htm

Python utility for experimenting with algorithms
https://github.com/Matchstic/depthmapper

ℹ️ Attributions

Twemoji
https://twemoji.twitter.com/

Video by Yaroslav Shuraev from Pexels
https://www.pexels.com/video/a-man-in-the-library-computing-in-the-phone-on-the-tabletop-6282222/

🎵 Music

Vans in Japan - Deep State
Unicorn Heads - Wolf Moon
Patiño - Stoner Things
SefChol - It's Almost Over

💡 Research

Small Vision Systems: Hardware and Implementation. (1998). K Konolige
https://www.cs.cmu.edu/~motionplanning/papers/sbp_papers/integrated1/konolidge_stereo_vision.pdf

Stereo Disparity using Semi-Global Block Matching
https://ww2.mathworks.cn/help/visionhdl/ug/stereoscopic-disparity.html

Depth Map from Stereo Images (Python)
https://docs.opencv.org/master/dd/d53/tutorial_py_depthmap.html

The Depth II: Block Matching
https://python.plainenglish.io/the-depth-ii-block-matching-d599e9372712

Depth perception using stereo camera (Python/C++)
https://learnopencv.com/depth-perception-using-stereo-camera-python-c/

🧐 Social stuff

Twitter: https://twitter.com/akamatchstic