Trajectory Tracking and Replication

This project aims to track the trajectory of a moving object using a depth camera and replicate its motion using a drone. The system combines real-time depth sensing, object detection, trajectory estimation, and drone control to achieve this goal.

Introduction

In this project, I used a depth camera to capture the real-time movement of an object and estimate its trajectory. The captured trajectory is then used to command a drone to replicate the same movement path in a 3D space. This system can be applied in various fields such as object following, surveillance, and industrial automation.

Features

• Real-time object tracking using depth camera technology
• Trajectory estimation to track the precise movement path of the object
• Drone path replication based on the tracked object’s movement
• Modular architecture with components for object detection, trajectory tracking, and drone control

Hardware Requirements

• Depth Camera - Intel RealSense D435
• Drone - compatible with external control like PX4 and ROS
• Computer - Rapsberry pi 4

Software Requirements

• Operating System: Ubuntu 20.04
• Libraries and Tools:
  • Depth Camera SDK
  • OpenCV for image processing
  • ROS (Robot Operating System) for drone control
  • MAVSDK
  • Python 3x
  • NumPy for trajectory computation

Installation

Clone the Repository

git clone https://github.com/sohamsarpotdar2001/Trajectory_tracking_and_replication.git
cd Trajectory_tracking_and_replication

Launch the turtlebot and drone

roslaunch drone_project project.launch

Tracking the turtlebot as a moving object

python drone_hold.py && python centroid_track_new.py

Replicating the trajectory

python replicate.py