18 Feb

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...

15 Feb

The crazyflie system is primarily designed to be used as a quadcopter but can be modified to be usable as a blimp. This requires both a change in the propellor configuration (hardware) as well as a change in the firmware. The process of modifying the firmware is described in the following tutorial...

12 Feb

We succeeded in getting the GMU board to drive a motor and to control a servo. However, when it came to testing its Wi-Fi capabilities, we ran into a problem. After turning on the onboard ESP32's Wi-Fi, an error message was displayed as below After some research, we determined that the error w...

11 Feb

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). ...

11 Feb

Next task: The urgent tests need to be carried out is to find the real pose estimation result only by landmark points without uncertainty evaluate the influence of uncertainty to find the pose estimation effect based on probability map of features After that we can then to test the EM alg...

10 Feb

Yifei optimized algorithm as well as code this week and test it on our collected data, Under complicated environment with reflection and disturbance from other objects, the major part of green balls were found with contours as well as centers.

09 Feb

Previously, in the balloon shape design prelab. We discussed about the relationship between different balloon envelope with different shape after inflation. This week, we did a case study on case 1. We measure the dimension before inflation and after inflation. We also tested its buoyancy. Th...

09 Feb

Measure drag coefficient aerodynamics plays a very important role in measuring the performance of blimp. We know drag equation: \[ F_D = \frac{1}{2}C_d\rho A v^2\] where, \(F_D\) is the drag force, \(\rho\) is the density of the fluid, \(A\) is the cross sectional area \(v\...

04 Feb

error.pdf result_2.pdf I implemented the EM based SLAM algorithms. However, in a visual inertial system, we can to take care of other realistic issues besides the theoretical algorithm itself. It will be insightful to compare the optimization based algorithm, since it has been developed for a wh...

04 Feb

Validation of our approach How compare accuracy There are different ways of comparing result accuracy: Ratio of the maximum deflection calculated by the numerical solution to the corresponding values obtained analytically [1] [2] Ratio of deflection of deflection at a particular point...