Table of Contents
Groups
Laser Scan Matching/Odometry Group
Resource Documents
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- This thesis contains another perspective of contour matching. Olson uses a simple contour matching algorithm which we might find works better for our first attempt. Olson's work predates Bachrachs and is cited in Bachrach's work.
Research Deadlines
- February
- By Feb 4 - Extract Contours from laser scan data
- Feb 4-11 - Create and compare Log-Likelihood scan with local map
- Feb 12-18 - Add new scan to map
- Feb 19-25 - Find pose, refine pose estimate (using gradient ascent), add to global map
- March
- Something really hard and time consuming
Final
Robot Operating System (Database Info Distribution)
Documentation
Bag of Words Group
Documentation
Extension of Sim Environment Group
Building Group
Documentation
Roadmap & Milestones
Work Group | Responsible Grad | Jan | Feb | March | April |
---|---|---|---|---|---|
Vision Recognition | Bryce | In real time, with computer and camera in hand, recognize the thumb drive and Arabic signs while walking past them. The objective should be to recognize these objects in passing as opposed to intentionally staring at them… | |||
Mapping and Localization | Raj | Map Encoded (for vision & laser) | Be able to consistently identify where you are in a known map | ||
Build Maps | “Bag of Words” style place recognition | ||||
Physical Construction | Rob | Build Competition-style walls with a window | Complete mechanism for USB swap keeping in mind the competition weight constraints | ||
Complete Prop Guards | |||||
Complete Sensor mounts (and perhaps alternative landing gear) | |||||
Simulation | Stephen & Everett | Model Characterization of the HexaKopter | Add Competition-style obstacles to the existing virtual world | Extend the virtual world to the entire lab (i.e. rooms 280 and 290x) | |
Output something to indicate collisions with obstacles | Be able to land on tables, etc. | ||||
Estimation/Odometry | John | Characterize the performance of IMU only estimation | Scan Matching and Visual Odometry algorithms working | Fusing IMU with Odometry | |
Path Following | Jeff | Basic path following algorithm implemented | Autonomous path planning algorithm working |
Breakout of Groups
Vision Recognition | Mapping & Localization | Physical Construction | Simulation | Odometry | Path Following |
---|---|---|---|---|---|
David Dzado | Nathan Honka | Ben Baird | James Bangerter | Nathan Honka | Christopher Blackhurst |
Eric Johnson | David Dzado | James Bangerter | Michael Root | Larry Moore | Matthew Manwaring |
Jeff Hutchins | Jeff Hutchins | Larry Moore | Paul Bartholomew | Eric Johnson | Daniel Perry |
Samuel Olson | Samuel Olson | Michael Root | Christopher Blackhurst | Daniel Perry | Sunir Pokharel |
Jared Keeley | Jared Keeley | Paul Bartholomew | Matthew Manwaring | Sunir Pokharel | Ben Baird |