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User:Lars

From DGC Wiki

Contents 1 Teams/Groups 2 Projects/Responsibilities 3 Notes 4 Contact info 5 Miscellaneous 5.1 TODO For Field test #2 5.2 Summer 2004 GOTChA 5.3 Running your first Player/Gazebo example 5.4 Instructions for recording directly to DVD

Teams/Groups

• Richard Murray's graduate research group
  • Murray Group Wiki (password protected)
  • Murray Group Bugzilla database (password protected)
• Planning Team
• Sensor Fusion

Projects/Responsibilities

• Coordination of planning team
• Researching sensor fusion on map level
• Real-time digital elevation mapping (RTDEM)
• Planning Simulation

Notes

• Sick LADAR hardware troubleshooting
• ❑
• Media:Terrain_type_Lisa.doc
• Media:Types_of_Terrain.doc
• Media:Test_Matrix.xls

• Lars Test
• Lars Notes Summer 20050608
• Lars_Notes_AI_Motorvators_20040609
• Change made to Wiki 13 Dec 04 (Bob at Santa Anita?)
• Change made to Wiki 15 Dec 04 after I've taken gc offline with script.
• Spring W4 Test

Contact info

• email: lars@cds.caltech.edu
• aim: lars1f4

Miscellaneous

See my real home page at CDS.

Planning_Getting_Started MTA Documentation MTA Documentation API

TODO For Field test #2

1. Set up logging (with date and time stamps) of paths and state.
2. Handle case where NTG fails (don't send path)
3. Put hooks into Simulator to reset to initial conditions and to set the state elements
4. [Jeremy] Get map display of CMaps at > 2Hz
5. Make Sparrow display for PathFollower!
6. Put sparrow hook to clear vehicle trace in MatlabDisplay

Summer 2004 GOTChA

Goals Develop, implement, test and document algorithms to fuse LADAR and stereovision data into a single map in real-time. Advanced CDS 273 fusion algorithm Team Caltech DGC 2004 fusion method

Technical Challenges Paper 3D-ifying algorithms Fast speed implementation Sufficient modeling of sensor uncertainty Lack of knowledge about current state-of-the-art Infrastructure Lack of graphical interface that can display maps in real time Not yet mature/stable embedded systems implementation Drive system State estimation and synchronization Computing platform Insufficient enviroment for simulation of sensors (LADAR, stereovision)

Objectives Demonstrate high-speed (TBD) navigation using new sensor fusion algorithms through unmodeled terrain. Choose and evaluate performance metrics for maps produced by each of the above methods. Compare this approach with existing approaches to this problem Write paper for ICRA 2005 with abstract I've developed

Approach Code algorithms into MTA module framework Build on open-source Gazebo 3D dynamic simulation interface Run field tests to collect experimental data of alternate fusion methods

Running your first Player/Gazebo example

• Planning_Simulation

Instructions for recording directly to DVD

Stored in 12 Steele there is a cart for recording events. On or around the cart can be found a monitor, Panasonic DVD recorder, and Canon digital video recorder. You can leave the DVD player in the bottom of the cart and fold out the box flap.

1. Plug in power to each of these devices.
2. Connect the RCA connector to the front inputs of the DVD recorder and the other (1/4") end to the back of the DV camcorder.
3. Optionally, connect an S-video cable between the DVD recorder and back of the monitor
4. Make sure that the "channel" on the DVD recorder is set to L2 (which corresponds to the front RCA jacks).
5. For recording directly to DVD, make sure that the "DVD" button on the front of the DVD recorder is lit with a green light.
6. Check the recording mode (XP, SP, LP, EP). Generally, you want the shortest (closest to XP) mode that you can fit your content on. Finalizing the disc will take longer for LP and EP.
7. Put a blank DVD-R disc in the DVD recorder.
8. Put a mini-DV tape into the camcorder.
9. Press "Rec" on the DVD Recorder
10. Press the red recorder button on the back of the camcorder. If you don't do this step, the camcorder shuts down after 5 minutes or so.
11. Press "Stop" on the DVD recorder. If you continue recording, new chapters will be added at the end of each "chapter".
12. When finished, press "Stop" and then "Functions" on the remote control, go to "Disc Setting" and then "Finalize".

Edit this page | Discuss this page | Page history | What links here | Related changes | User contributions Main Page | About DGC Wiki | Recent changes |   This page has been accessed 2,001 times. This page was last modified 06:18, 12 October 2006 by DGC Wiki user Lars. Based on work by DGC Wiki user(s) Henrik.