Meeting 1/7/19

[g-simmons]

• Stereo camera
• external localization?
• Add all members to github repo
• progress over break?
• Push most current game to github

[g-simmons]

Meeting notes

Action items:

ORB-SLAM team:

Goals for next week:

• [ ] Save map from ORB-SLAM to file

  • @yangguang, @nehal, @mind111

• [ ] Use rviz to check that ORB-SLAM and local_position/pose are in agreement

  • @Yangguang
  • [x] Show Yangguang how to use rviz @jim We can visualize drone position estimate (combined output of IMU and ORB-SLAM position, internal sensor fusion result) and ORB-SLAM output in the same window, instructions are here #13 . We have re-encountered the problem that ORB-SLAM coordinate axes do not correspond with real-world coordinate axes.

Other goals

• (Long term) Verify each step in localization to display pipeline to identify source of shakiness
• Verify that we can run multiple ORB-SLAM instances on one workstation

Gaming and Controls:

Goals for next week:

• ROS and Game networking

  • [ ] update drone position in Unity from pose estimate in ROS
  • @Jim implemented this with TCP/IP
  • scale may not be correct
  • game currently does not include orientation change
  • [ ] send controller information from Unity to ROS
  • can send dummy information from Unity to ROS
  • @g-simmons

• [ ] Get basic code and documentation for communication from ROS to Unity implemented by Jim

  • @Jim

• [ ] Publish most recent game version to GitHub

Other:

• Contact Davis Unified School District Facilities Use dept for testing area
  • @max

Updates:

• Stereo Camera: Main focus for now is getting a quality video for SIGGRAPH submission, and we are assuming this is more likely to happen if we continue with monocular ORB-SLAM rather than switching to stereo.