Leland’s Status Report for 11/2/2024

This week I devised a new test plan for our project, and I got a demo for ArUco tag detection working. Here is a link to my work document.

According to our previous schedule, I’m about two weeks behind in work. Originally, our team was supposed to have at least two weeks of total system integration for the Interim demo. As of now, we will have one week to integrate. That being said, we have devised a new schedule that will lead us to a successful Interim demo. I have a lot of work to do, but I have made this plan and devoted more time next week to complete the necessary tasks.

My goals for next week are as follows:

  • Track Multiple ArUco Tags
  • Track ArUco Tag Orientation (roll)
  • Create software for PC and esp32 communication

Leland’s Status Report for 10/26/2024

This week, I followed the directions from this GitHub repository to download the necessary eYs3D libraries, but also some nice wrapper functions. After that, I was able to run a video demo of the depth map and the normal frames. The GitHub repository included these demos to test and calibrate the camera. Here is a link to my work document for this week.

Unfortunately, my progress is not on schedule. I wanted to include the ArUco tag calculation this week, but I wasn’t able to get that done. I have developed a schedule of my total workload for the next coming weeks. This will help me keep up with my other classes and free up time to spend towards this project. This is included in my work document. Despite being behind on schedule, I’m proud of my work this week. I had a lot of other hard class assignments to complete this week, and I got those done. I’m convinced that if I keep up this pace, we’ll be back on track by next week.

I have my deliverables for next week in my work document, but I will reiterate them here. By next week, I hope to write my own python script that utilizes the software packages I downloaded. This script needs to be able to identify and locate ArUco tags. I need the relative XYZ position of the tags and their orientation.

Leland’s Status Report for 10/20/2024

This week I started setting up the software environment to use the eYs3D stereo camera. I have created a Linux workspace on Ubuntu to run the image processing. Also, I have found the necessary SDK (Software Development Kit) to digitally capture frames. In combination of these two, I was able to produce some code that will capture frames with the SDK and convert them to a OpenCV matrix for further image processing. Here is a link to that code snippet.

Overall, I’m still on track for further camera calibration and ArUco marker detection for next week. For next week’s deliverables, I hope to be able to produce some visual examples of capturing and processing the camera frames. Also, I’d like to implement a code example that captures position and orientation of ArUco markers.

Leland’s Status Report for 10/5/2024

This week, I changed my camera design by picking a different type of camera. I made this change because the depth perception of a monocular webcam was not good enough. Also, the stereo cam I want is in the 18-500 inventory which is great for budget. Also, I researched some pseudo-code to start crafting what the OpenCV code will look like when I get the camera.

I’d say my progress is just a little behind where I want to be. I’d really like to get the camera next week and set it up with my laptop. Then, I can set it up with a stand and a dummy remote with Aruco tags to start calibration and computation. In the meantime of getting the camera, I can continue to build the pseudo-code for the image processing. Another thought is I will need to start crafting pseudo-code for the UART protocol of sending and receiving data from the two ESP32s we have. I’d like to include that in my report next week too.

My work this week

Leland’s Status Report for 9/28/2024

This week, I have finalized a design plan for the camera station. I made some calculations to estimate what specifications would be necessary for the camera and the camera stand. I also picked out a specific webcam and camera stand that will satisfy my specification requirements.

I am on track, as I have a complete design and almost complete bill of materials. This is the goal that I had in last week’s status report.

Next week, there will be design review presentations where my team will receive design feedback for our project. By the end of next week, I want to use that feedback to finalize all our design plans and start ordering parts.

My work this week

Leland’s Status Report for 9/21/2024

This week, I researched more thoroughly what will be needed for the computer vision part of the project. I have looked at the pros and cons for different types of cameras like a USB webcam vs a stereo camera. I have also started to look through OpenCV libraries to get comfortable with them. Lastly, I modified the website a little to make it look nicer.

We are on schedule. This week and next week are for design and ordering parts.

I hope to have an almost complete design and list of parts for the camera/laptop station part of our project.