Name: Wenxin Xiao
- What did you personally accomplish this week on the project? Give files or photos that demonstrate your progress. Prove to the reader that you put sufficient effort into the project over the course of the week.
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- Over this week, I worked to experiment on the temperature and angle threshold that would work best with the lidar. The thermal camera can now communicate with the lidar to obtain distance information on the obstacle observed and return to lidar when it flags a heat signature with help from Aditya and Akshat.
- Is your progress on schedule or behind? If you are behind, what actions will be taken to catch up to the project schedule?
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- Our progress is slightly behind. We will work extra hours to catch up to the project and ensure we have the integration of the project and record many testing scenarios.
- What deliverables do you hope to complete in the next week?
- We aim to test on the thermal part of the project to ensure that it is identifying humans correctly and marking on the correct locations on gmap. We will mostly focus on testing the navigation, mapping, and human identification on multiple scenarios multiple times.
Name: Akshat Jain
- What did you personally accomplish this week on the project? Give files or photos that demonstrate your progress. Prove to the reader that you put sufficient effort into the project over the course of the week.
- This week, I mostly helped Wenxin and Aditya set up the thermal camera so it can corresponding distance information from the Lidar as soon as the thermal camera flags a person. I also worked with Aditya to fix a bug we had our robot when it would try to move back while executing a trajectory. We tested our robot in Hammerschlag to fix this problem.
- Is your progress on schedule or behind? If you are behind, what actions will be taken to catch up to the project schedule?
- Our progress is behind as we were hoping to get the path planning working in time for the demo. We will mostly be working on this to fix the bug.
- What deliverables do you hope to complete in the next week?
- We aim to fix this bug by the begining of next week. We also hope to extensively test the thermal camera and its ability to place a human on the map and its accuracy in doing so.
Aditya Ranade
- What did you personally accomplish this week on the project? Give files or photos that demonstrate your progress. Prove to the reader that you put sufficient effort into the project over the course of the week.
This week, we were primarily focused on getting the thermal camera set up for the final demo. I specifically worked on getting range data from the lidar offset whenever the thermal camera detects a person. I also worked on testing frontier exploration in the HH hallway and there appears to be an issue regarding execution of the planned path. The robot sometimes did not follow the path and moved backwards instead. I will work on fixing this issue in the first half of next week for the final demo.
- Is your progress on schedule or behind? If you are behind, what actions will be taken to catch up to the project schedule?
- I would have liked to have frontier exploration working decently well; however, the issue mentioned above still persists. I don’t have much other work this week, so I will work on fixing this bug at the soonest.
- What deliverables do you hope to complete in the next week?
- Fix the bug in frontier exploration
- Integrate thermal camera with exploration.
TEAM UPDATE
This week, we got made progress on the human detection subsystem. We attached the thermal camera to our mount and ensured that it is flush with the lidar 0th degree. We determined thresholds for human detection and the thermal camera is able to detect people within a range of 1.5-2m. Overall, we are behind schedule since we did not anticipate this bug which is causing exploration to fail at times. We plan on devoting more time towards our project this week to fix the bug and fully integrate the thermal camera into our exploration.