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DJI Tello Obstacle Avoidance with YOLOv4

So glad I've completed this video. It's been a long journey for me to implement this Obstacle Avoidance protocol in my existing program. This obstacle avoidance use YOLOv4 to identify ball distance, speed and time-to-collision (ttc) that being used to trigger the avoidance routine. For more info about how to train your own custom dataset with YOLO, you can check out my other youtube video on setup and training process here    • Easy Installation, Training and Use o...   For Tello being "fast enough" to avoid the moving obstacle, I also required to extend and generalize my existing SDK module (previously support official Tello SDK) in order to use unofficial SDK module developed from Gobot project and Tellopy (Python implementation) - https://github.com/hanyazou/TelloPy At the moment, my Tello program developed in Python able to perform 1) tracking mode, 2) path planning, 3) obstacle avoidance. It is really interesting to see what is possible with Tello for incoming future. so I hope you guys enjoy this video compilation, while not too details spoken in this video, I welcome you guys to ask question on anything you want to know in the comments below. Timeline: 2:30 My favourite component diagram! 3:52 What is Time-to-Collision (TTC)? 5:28 Estimating ball speed using pendulum setup 6:47 Obstacle avoidance Python implementation 9:26 Test object quadrant's detection 9:54 Test avoidance for object speed 2m/s 10:13 Test avoidance for object speed 4m/s 10:37 Tracking mode + Obstacle avoidance integration! Hardware & Software: ► DJI Tello: https://invol.co/cl1pagp ► Ubuntu 18.04: https://bit.ly/2zLMJGV ► Intel core i3-9100F @ 3.60GHz: https://invol.co/clo03f ► ZOTAC GTX-1060 @ 3GB: https://invol.co/cl1paiq Recording gear: ► GoPro Hero 5: https://invol.co/cl1pajx ► BOYA BY-M1 - Lavalier microphone: https://invol.co/cl1pakt Facebook:   / robotandcode   Twitter:   / robotandcode   LinkedIn:   / murtadha-bazli-tukimat