Welcome to uavster's blog (filtered)

TL;DR I hacked a 28-year-old C++ compiler to support exceptions. That’s two years before exceptions were even part of the first C++ standard!

The compiler is the Watcom C++32 Optimizing Compiler Version 11.0, from 1996, by Sybase, Inc. Around that time, some friends and I started a real-time graphics [...]

Fig. 1: The Watcom C++32 Optimizing Compiler Version 11.0 running on DOSBox.

Years later, I resumed maintaining the library. Real-time code was mostly written in assembly, but I started adding C++ support to integrate faster. However, with error checking everywhere, the code started [...]

Tracking an object over a video sequence is a classic problem in Computer Vision. A tracking algorithm looks for the object at every new frame, given a model of the object. This model holds information [...]

There are tons of tutorials on color-based tracking that use the histogram back-projection to find those pixels in the image that are most likely to be object pixels. Then, they use MeanShift [...]

After normalization, each bin value in the color histogram expresses the probability that a pixel has a color in bin B, given that it is a pixel of object O. We can express this as the conditional probability [...]

Home, sweet home. My luggage is laying on the floor, as exhausted as me. I arrived yesterday from Braunschweig, Germany, but went straight to bed for a mandatory energy charge. I slept for an insane number [...]

1) Special Award for the "Best Automatic Performance"
2) 2nd place in the Indoor Flight Dynamics Challenge

According to the organization, our drone was the first one in the history of the competition to pass the challenge without any human intervention, entirely on its own. This is the reason [...]

My colleague Jesús Pestana did an amazing job with the position estimation and high-level controllers (trajectory and mission). My contributions were the software framework, visual speed estimation, [...]