This week, we heavily focused on our separate parts, as we try to get something cool together to demo. We did get more parts delivered, including the additional LIDAR sensors, so there was a lot of excitement in testing out more of our system and seeing how it measures up to our goals! Here’s a picture of Evan and Will testing out a LIDAR sensor outside on Wednesday.
Spent way too much time working on setting up the app to bluetooth communicate with the raspberry pi, because it turns out (after much digging) that the sample github repo I found will not work for what I need. So I started from scratch, using the CoreBluetooth framework, working heavily with the CBCentralManager class and the CBPeripheral class. Really hoping this will work this time, but not at the point of testing yet. Plan to do more work on Sunday…
This week I came up with my initial approach for features for images (a bunch of blocks of percentage of key points of the images (i.e. 2×4 blocks). The exact number of blocks will be optimized once I have training/test data pictures. After collecting some photos with our camera at about 8m away, I have decided that only a certain section of the image will potentially contain the object we are trying to detect (in the middle of the image)…
LiDAR sensors working together: I was able to get all three lidars to send and receive signals with the RaspberyPi with the TTL converter. I crimped the wires for the lidars so they could easily be attached and detached from the TTL USB converter. Then I edited and debugged the simple python scripts to initialize and wr/rd values to/from all three LiDAR sensors. Using a simple round-robin scheme it prints the strength, and distance values to the terminal of all three…
This week I have really gotten to dive into working on the iOS application, which was nice. Had some bugs to deal with, which took longer than they should have to navigate because this is my first time working with xcode / swift. I’ve also started to look at more demo apps to hopefully speed up this process, rather than trying to learn everything myself from scratch. Also spent a good chunk of time investigating how the bluetooth communication will…
This week we all continued to work individually on our parts of the project. No real changes to our design or schedule. Next week we would like to try to get all of our parts at least far enough for the demo and integrate what we have.
This week I continued to work on and implement the image processing part of the project. I implemented the part to pick the section of the image the object we are trying to detect probably is in, based on which section has the most edges after blurring. I also implemented a k-nearest neighbors classifier. I have also put together the full workflow for the object recognition part (so the only parts that need to be improved are all of the…
This week in 18-500 Drafting of the custom sensor mount This will be the custom computer drafted 3-D printed plastic board that the 4 sensors will mount to, and the board will mount to the chest harness. The reason for a custom board is because of the need for precision in the relative angles of the LiDar sensors. Below is hand drafts and measurement collections for the Computer-Model. I have begun editing in Inventor Pro. The left page is raw data measurements and drawings of…
SPRING BREAK
After spending several hours working on the report and completing the ethics assignment (before the deadline got pushed back), I spent some more time working on the Theia iOS app. I am slowly learning how to navigate xcode, but managed to create and connect several scenes and I think I am close to having the basic flow of the app put together. The biggest hurdle I see coming up is figuring out how to receive information from the Raspberry Pi…