Groups

Laser Scan Matching/Odometry Group

Bachrach Thesis - Detailed Description of Laser Scan Matching
Bachrach's European MAV Conference Paper
Olson's 2008 phd thesis
- 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.

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

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