27 Nov

### Meshes and Textures in Unity

Once I constructed the the mesh of our track in Meshlab I needed to import the mesh into unity. Unfortunately Unity does not read per vertex colors so I a made a texture from the mesh so that it could be applied to the colorless mesh I imported to unity. However the texture I created using the per t...

24 Nov

### Prelab Write Up and Experiment Setup

This week was mostly focused on writing a prelab report and setting up the experiment for the data collection.Prelab : A prelab report for the experiment was written so that all the project team members and I could prepare for the professional RC driver to stop by and collect data. Optitrack Mo...

21 Nov

### SLAM Algorithms Overview - 2

This is part 2 of the slam algorithm overview focused on Particle Filter related SLAM algorithms. It is aimed to provide readers some basic understandings on different SLAM algorithms and their relationships.

20 Nov

### Creating a Mesh from 3D point clouds

One of the things I'm working on right now is setting up the environment of our unity simulation. This simulation will need to be a realistic representation of the track we are using. In order to achieve this we use an intel realsense camera to scan the track and generate a 3D point cloud. However U...

20 Nov

### EKF-SLAM Inconcistency Problem

For the past few weeks I have been looking at the EKF-SLAM inconsistency problem. I've compiled what I've found so far into a short literature review linked here . This includes some references for proposed modifications to the EKF-SLAM algorithm. Based on what I've looked at so far, the ways to r...

20 Nov

### P2P Messaging with PyBlueZ

The PyBlueZ library provides an easy to use interface for communicating over Bluetooth in Python. While Python has native support for Bluetooth with its sockets interface, it is only available for Python v3.3 and up. In addition the PyBlueZ provides a lower-level interface for Bluetooth that can b...

15 Nov

### Some materials for Lie group

Currently, I am studying Lie group to understand the application on localization. Here are some materials that I found very useful:B. C. Hall, Lie groups, Lie algebras, and representations : an elementary introduction,'' 2015. youtube lectures from Dr. Fredric Schuller The first book can be...

15 Nov

### SLAM Algorithms Overview - 1

This is part 1 of the slam algorithm overview focused on Kalman Filter related SLAM algorithms. It is aimed to provide readers some basic understandings on different SLAM algorithms and their relationships.

14 Nov

### Presentation for the Mechanical logic in ISER2018

Finally, our work of the mechanical logic was presented in the ISER, Nov. 2018. In this paper, we introduced the mechanism of the mechanical logic and demonstrated its ability to induce electrical current oscillation with a constant-current energy source. For more details, you can refer to our paper...

08 Nov

### Linearization Writeup

During the past week, I have been reexamining the linearization script I created for the attitude controller. The difference between results from my implementation and literature values might be attributed to 2 sources. The assumption that the propeller speed in the body frame relative to earth...