2024-10-11 Autonomy Meeting

Pathing

@Jane Zeng

• Circle mode done yet?

  • Unknown

• Waypoint circles?

  • PR is up

• Camera FOV + height to search area should be done

  • Merged

Airside

@Ashish Agrahari

• Make a “rudimentary geolocation” using the camera dimensions function, and scaling it. Pixel in image → distance in meters (assuming drone is stopped, flat, camera pointing straight down, and ground is flat)

Tasks:

• @Achita Anantachina Classical CV method tests

  • @R D to look into issue

• @Shahvir Wahab Research ROS with ardupilot

  • Done

  • Testing - simulation of drone inputs (camera, GPS, etc.) VS SITL?

  • Tools? how they benefit CV/ML inferencing

    • either develop faster or runs faster

• @Shahvir Wahab Testing ROS with ardupilot

  • Will start soon

• @Victor Terme Auto landing module

  • Needs to talk to someone about the task

  • He will talk to @Tong Zhang later

• @Andrew Xu Logging for all workers

  • Working on logs

  • In progress

• @Siddh Patel Create log merging script

  • Waiting for PR approval

ML

@Vibhinn Gautam

• Order the pi ML accelerator: https://www.raspberrypi.com/documentation/accessories/ai-kit.html

IMACS

@Balaji Leninrajan

• PRs for

  • Create widget to execute terminal scripts

  • Implement UI to change address and port

  • Create RTL (also reviewed)

• New tasks related to SITL setup soon

Obstacle Avoidance

@Vyomm Khanna

• Implementation of VFH algorithm for obstacle avoidance coming along well.

• Updated algorithm to process LiDAR readings as a continuous stream instead of a file, display polar histogram after each oscillation (forward and backward)

• Updated algorithm to output path deflection angle (temporary waypoint direction) based on appropriate candidate valley identified.

• Wrapping up unit tests, and tweaking formula based on results.

• Scheduled to work on adding temp waypoints after this

IR Camera + detection

• Somebody needs to test the Rpi camera + IR filter (in the autonomy drawer, a little silver square) during reading week. Please look for EE members for help to turn on IR emitter

• Someone research noise reduction in taking pictures/videos in low light environment (since our filter blocks a lot of visible light)

• Now that the IR filters have arrived, we should label them unless there’s a discernible difference between both models (or if both models havent arrived)

• Will need to assign tasks related to developing a cv model soon (like over reading week and in the next meeting).