mobot

TODO

• Understand current reconstruction pipeline
• Implement bundle adjustment for pose graph and replace existing bundle adjustment
• Compare results of two bundle adjustment and time
• How to incrementally build and query bag of visual words?
• Implement bag of visual words in C
• Test new SIFT code on old data
• Add additional constraints during align and bundle adjustment
• Update rootsift

Resources

• Still disorganized, but old code, drawings, BOM, etc here

Set up

Move (a.k.a. Arduino + motors + wheels; stepper motor + platform)

• To install, run the following from the mobot directory:

  ./scripts/install

• Open src/move/init/init.ino and upload to Arduino
• Open src/move/move.ino and upload to Arduino
• If on OS X, use the BluTerm app (see link in references) to pair (code 0000)
• Send an integer via BluTerm to test motors

Capture (a.k.a., RGBD sensors)

Process

Main