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- Week recap
- Created a bin detection algorithm with George
- Used LiDAR and edge detection to grab a vector representing the bin
- Then while rotating the Roomba, the vector was then compared to the current LiDAR scan using L1 norm to find center of bin for alignment
- Worked on bin alignment with George
- We were not happy with the LiDAR bin detection algorithm performance, so we have returned to using a back camera for bin detection
- Now we detect the bin distance using LiDAR, and use ARuco for bin pose estimate to create an alignment procedure
- Enhanced robot rotation with George by listening to ROS transform messages for more accurate orientation estimation
- Completed battery test with George
- 80% drain over four hours
- Schedule
- Behind on bin alignment and integration testing, using Finals week as buffer.
- Deliverables
- Continuing to work on bin alignment
- Once bin alignment is done (and hardware is frozen) complete bin pickup and integration tests