The most significant risk that can jeopardize the success of the project is the overlay between the coordinate plane given by the camera and the coordinate plane given by the UWB sensors. Right now, we have an occupancy matrix of all the obstacles in the indoor environment. We got the basic functionality of the UWB sensors working but to localize the person with the UWB tag in the same frame we would need to overlay the two coordinate planes on top of each other. Since the occupancy matrix is downsampled by an arbitrary scale, we would need to calibrate the UWB sensors so the user’s movements are accurately reflected on the occupancy matrix. We believe this is the next main complexity of our project that we would need to tackle. With 4 UWB sensors (including one on the person), we would be able to localize the person in 3D space. Since our occupancy matrix is 2D, we would need some to use some geometry to match the movements of the person onto the grid. Since the camera used is a 120 degree FOV, we would also need to account for some warping effects on the sides. Once we have all 4 UWB sensors, we can definitely try to test that out.
Another risk that could jeopardize the success of the project is the compute power of the Jetson. Our current software pipeline is already taking a few minutes to run on the laptop, and we still have the UWB positioning left. Once we complete our pipeline, we were planning to move the processing to the Jetson. If the Jetson is unable to process this in a reasonable time, we may have to consider a more powerful Jetson or doing our processing on the laptop.
Some minor changes to the design of the system is that the destination selection will be fully configurable by the user now. When setting up the environment, the user will have the option to configure what locations they would like to request navigation to in the future. This will be set up with a UI that a caregiver can use.