22 Jun

Refresh on Contact Dynamics

Alexie Pogue

Looking into old work to refresh on simple contact dynamics for nonholonomic systems:

18 Feb

NLS SLAM Simulation Roughly Complete

Alexie Pogue

The below figure shows a ground truth body trajectory (gt, black) and ground truth landmarks (lmk, blue). The goal is to run a SLAM simulation using NLS optimization as the backend and vision as the front end. A dead reckoning signal (dr, red) is generated using an IMU (with noise) and feature point...

11 Feb

Simulation setup with IMU constrained optimization

Alexie Pogue

The below figures show the ground truth (gt, black), a noisy dead reckoning signal (dr, red), and an NLS optimization using the noisy dr as a seed, and IMU data to constrain relative motion. The above figure shows all trajectories, and landmarks (lmk, navy) and feature points (plmk, green). ...

28 Jan

Simulating a trajectory for BOEM Slam Verification

Alexie Pogue

Currently working on the first step of a simulation for Tsang-Kai's SLAM project. A simulation will help verify landmark accuracy among other things beyond what can be demostrated using datasets. Ultimately we would like the simulation to look like the below figure [1] . The simulation setup...

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