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drone-gesture-control

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🚁 Robust proof-of-concept of a gesture-controlled drone: augmenting an ArduPilot flight controller with a Jetson Nano!

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<h1 align = "center"> Vision-Based Gesture-Controlled Drone </h1>

[![MIT License][license-shield]][license-url]
[![LinkedIn][linkedin-shield]][linkedin-url]

This project leverages the Jetson Nano's computational power to augment a drone with computer vision capabilities and allow gesture control. The deep learning model deployed here is part of a larger project, a [**Pose Classification Kit**](https://github.com/ArthurFDLR/pose-classification-kit), focusing on pose estimation/classification applications toward new human-machine interfaces.

- [Demonstration & Processing pipeline description](#demonstration--processing-pipeline-description)
- [Getting Started](#getting-started)
  - [Step 1 - Install Dependencies](#step-1---install-dependencies)
  - [Step 2 - Install the gesture control pipeline](#step-2---install-the-gesture-control-pipeline)
  - [Step 3 - Hardware setup](#step-3---hardware-setup)
  - [Step 4 - Launch the system](#step-4---launch-the-system)
- [Usage](#usage)
- [System performance](#system-performance)
- [Additional resources](#additional-resources)
- [Citation](#citation)
- [License](#license)
- [Acknowledgments](#acknowledgments)

## Demonstration & Processing pipeline description

## Getting Started

### Step 1 - Install Dependencies

1. Install PyTorch and Torchvision - see [PyTorch for Jetson Nano](https://forums.developer.nvidia.com/t/pytorch-for-jetson-version-1-9-0-now-available/72048).
2. Install TensorFlow - see [Installing TensorFlow For Jetson Platform](https://docs.nvidia.com/deeplearning/frameworks/install-tf-jetson-platform/index.html). Note that TensorFlow is already installed on JetPack.
3. Install [torch2trt](https://github.com/NVIDIA-AI-IOT/torch2trt)
    ```
    git clone https://github.com/NVIDIA-AI-IOT/torch2trt
    cd torch2trt
    sudo python3 setup.py install --plugins
    ```
4. Install other miscellaneous packages
    ```
    sudo pip3 install numpy Pillow pymavlink dronekit 
    ```

### Step 2 - Install the gesture control pipeline

1. Clone this repository on your Jetson Nano
    ```
    git clone https://github.com/ArthurFDLR/drone-gesture-control
    cd drone-gesture-control
    ```
2. Download and place the TensorRT-Pose pre-trained model [resnet18_baseline_att_224x224_A_epoch_249.pth](https://drive.google.com/file/d/1XYDdCUdiF2xxx4rznmLb62SdOUZuoNbd/view) in the folder [`.\drone-gesture-control\models`](https://github.com/ArthurFDLR/drone-gesture-control/tree/main/drone-gesture-control/models)
3. Run the installation procedure. This operation can take a while.
    ```
    sudo python3 install.py
    ```

### Step 3 - Hardware setup

1. Wire the UART ports _D15 (RX) - D14 (TX)_ on the _J41_ expansion header pins of the carrier board of the Jetson Nano to a MAVLink enabled serial port on your flight controller. See bellow a setup example using the Pixhawk 4 flight controller. The default baud rate is 57600.

 <img src="https://github.com/ArthurFDLR/drone-gesture-control/blob/main/.github/schematic.png?raw=true" alt="Banner" width="50%" style="border-radius: 5px;">

1. Disable the Serial Console trigger on the serial connection - see [Jetson Nano – UART](https://www.jetsonhacks.com/2019/10/10/jetson-nano-uart/).
    ```
    systemctl stop nvgetty
    systemctl disable nvgetty
    udevadm trigger
    ```

2. Connect your camera to the CSI port 0. You might have to adapt the GStreamer pipeline for your camera - see `gstream_pipeline` in [`.\drone-gesture-control\__main__.py`](https://github.com/ArthurFDLR/drone-gesture-control/blob/main/drone-gesture-control/__main__.py). The camera used for development is an Arducam IMX477 mini.

### Step 4 - Launch the system
```
python3 drone-gesture-control
```

## Usage

The gesture control system currently supports only basics - yet essential - commands:
- _T_: Arm the drone if it is disarmed and landed; Disarm the drone if it is armed and landed.
- _Traffic\_AllStop_: Take-off at an altitude of 1.8m if the drone is armed and landed; Land if the drone is in flight.
- _Traffic\_RightTurn_: Move 4m to the right if the drone is armed.
- _Traffic\_LeftTurn_: Move 4m to the left if the drone is armed.
- _Traffic\_BackFrontStop_: Move 2m backward if the drone is armed.
- _Traffic\_FrontStop_: Move 2m forward if the drone is armed.
- _Yoga\_UpwardSalute_: Return to Launch (RTL).

For security purposes, the system only transmits orders to the flight controller if it is in _GUIDED_ mode. We recommend binding a switch of your radio controller to select this mode for ease of use.

## System performance

The classification model used in this project is the best performing of the [Pose Classification Kit (PCK)](https://github.com/ArthurFDLR/pose-classification-kit). This model yields great results both in terms of accuracy and inference time. During flights, it is pretty common for the embedded camera only to record a person's upper body. The system thus has to be highly reliable even on partial inputs. The model is tested on two datasets to ensure this property: the original PCK dataset and the same samples with missing keypoints. **The testing accuracies on these datasets respectively reach 98.3% and 95.1%.** As shown in the confusion matrices bellow (left: original dataset - right: partial inputs), even poses that are hardly distinguishable by humans (only looking at the upper-body) are almost perfectly classified by the model. After optimization (see [`.\install.py`](https://github.com/ArthurFDLR/drone-gesture-control/blob/main/install.py)), **the whole processing pipeline - from image capture to drone control - consistently run at speed from 9.5Hz to 13Hz.**

## Additional resources

- [**Vision-Based Gesture-Controlled Drone:A Comprehensive Python Package to DeployEmbedded Pose Recognition Systems, Arthur Findelair, August 11 2021**](https://github.com/ArthurFDLR/drone-gesture-control/raw/main/.github/Project_Slides_Presentation.pdf)
- [**Presentation slides of the project**](https://github.com/ArthurFDLR/drone-gesture-control/raw/main/.github/Project_Slides_Presentation.pdf)

## Citation

```
@inproceedings{9813802,
    author    = {Findelair, Arthur and Yu, Xinrui and Saniie, Jafar},
    booktitle = {2022 IEEE International Conference on Electro Information Technology (eIT)},
    title     = {Design Flow and Implementation of a Vision-Based Gesture-Controlled Drone},
    year      = {2022},
    pages     = {320-324},
    doi       = {10.1109/eIT53891.2022.9813802}
}
```

## License

Distributed under the MIT License. See [`LICENSE`](https://github.com/ArthurFDLR/drone-gesture-control/blob/main/LICENSE) for more information.

## Acknowledgments

Many thanks to the [ECASP Laboratory](http://ecasp.ece.iit.edu/) from the Illinois Institute of Technology that has provided all the  necessary hardware to develop this project.

[license-shield]: https://img.shields.io/github/license/ArthurFDLR/drone-gesture-control?style=for-the-badge
[license-url]: https://github.com/ArthurFDLR/drone-gesture-control/blob/master/LICENSE
[linkedin-shield]: https://img.shields.io/badge/-LinkedIn-black.svg?style=for-the-badge&logo=linkedin&colorB=555
[linkedin-url]: https://linkedin.com/in/arthurfdlr/

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