Projects Summary

Author: Xinliang Zhong xinliangzhong@foxmail.com

• 0.Research on Real-time Location and Construction of Indoor Mobile Robots
• 1. DJI Robomasters Summer Camp.
• 2. Reconstruction of the scene based on RGBD-Camera.
• 3. An offline tool for pose-graph-optimization.
• 4. Auto Label tool for Autonomous Car.
• 5. Msckf-Mono.
• 6. Camera-Lidar-Calibration

0.Research on Real-time Location and Construction of Indoor Mobile Robots.

This projects aims to design a way to locate indoors autonomous mobile robot, the robot is equipped by the relevant sensor itself can be in a completely unknown environment situation accurately draw the map of the surrounding environment, and in this to achieve accurate positioning itself on the map basis.

Robot	Mapping process

1.DJI Robomasters Summer Camp.

This projects aims to design an autonomous MAV and a mobile robot that can grab the doll and place it in the bucket corresponding to the doll pattern. Below are some gifs. You can find the rules here and the final results in this video.

The video of this competition can be found here

2.Reconstruction of the scene based on RGBD-Camera.

It is a simple SLAM sysstem based on RGBD-cameras. Below are the pointcloud of the office.

The experiment of Loop Closure.

wirhout loop closure	with loop closure

3.An offline tool for pose-graph-optimization.

It is an offline tool for Pose-Graph. You will get an trajectory file (usually with x,y,z) after you have run the SLAM and VO algorithm. If the datasets contains a loop, This tool can optimize the pose and eliminate the cumulative error.

Code is available here!

4.Auto Label tool for Autonomous Car.

The projects contains 2 main targets. One for re-projection the road sign and some other infomation to the 2d image to verify the SLAM algorithm. The other one is a tool used for automatic label the road sign. Since the project2 is more important, We take porject 2 first place.

Code is available here!

5. Msckf-Mono.

This project is under constuction and based on this paper: A Multi-State Constraint Kalman Filter for Vision-aided Inertial Navigation The MSCKF_mono package is a mono version of MSCKF. The software takes in synchronized mono images and IMU messages and generates real-time 6DOF pose estimation of the IMU frame.

The tracking results:

6. Camera-Lidar-Calibration.

Code is available here!

The package is used to calibrate a 2D LiDAR or laser range finder(LRF) with a monocular camera. Specficially, Hokuyo UTM-30LX have been suscessfully calibrated against a mono camera.

The calibration results: