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mobot

Mobot

TODO

  • Understand current reconstruction pipeline
  • Implement bundle adjustment for pose graph and replace existing bundle adjustment
  • Compare results of two bundle adjustment and time
  • How to incrementally build and query bag of visual words?
  • Implement bag of visual words in C
  • Test new SIFT code on old data
  • Add additional constraints during align and bundle adjustment
  • Update rootsift

Resources

  • Still disorganized, but old code, drawings, BOM, etc here

Set up

Move (a.k.a. Arduino + motors + wheels; stepper motor + platform)

  • To install, run the following from the mobot directory:
    ./scripts/install
    
  • Open src/move/init/init.ino and upload to Arduino
  • Open src/move/move.ino and upload to Arduino
  • If on OS X, use the BluTerm app (see link in references) to pair (code 0000)
  • Send an integer via BluTerm to test motors

Capture (a.k.a., RGBD sensors)

Process

Main

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