11 Feb

#### Simulation setup with IMU constrained optimization

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

#### [Slides] Big picture : Information-Theoretical Semantic SLAM

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

#### FORAY - Color Segmentation on collected data

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

#### FORAY - Different shape with different dimension -- case study

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

#### FORAY - measure drag coefficient

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

#### Comparison between optimization based and EM based SLAM

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

#### IROS paper plan

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...

03 Feb

#### FORAY - collecting green ball data

This week, we are collecting some green ball data using the cellphone camera and esp32 cam. We've collected three different sets of photos with different resolution: (1) Cellphone camera, resolution: 3264 * 2448 (2) esp32-cam, resolution: 1280 * 1024 (3) esp32-cam, resolution: 800 * 600...

03 Feb

#### Foray - IROS paper system overview

The design parameters space: The performance evaluation system and performance:

02 Feb

#### FORAY - voltage - thrust plot with different motor + propeller combination

This week, I've tested the different relationship between voltage -thrust with different motor + propeller combination. The different motor+propeller combination is shown as follows: (1) Propeller forward turning vs. Propeller reverse turning (2) Propeller forward turning vs. Propeller rev...