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[DPRG] Re: stella's test drive outdoors
Subject: [DPRG] Re: stella's test drive outdoors
From: dpa
dpa at io.isem.smu.edu
Date: Mon May 7 12:58:37 CDT 2007
Chris,
Great Progress!
It is hard to tell from the video what stella is reacting to.
Are their boundaries or walls that it is seeing anc backing
away from?
For the IDSC event, could you home in on a brightly colored
target (say, a cone-shaped target that's internationl orange)?
dpa
> Hello,
>
> Here is a video of Stella driving autonomously in a parking lot.
>
> http://golem5.org/video/mvi4022.mpg
>
> The video is shaky as I have a remote kill radio in my left hand
> in addition to the digital camera in my right. The behavior is
> somewhat unpredictable. Much of that is due to camera exposure
> problems. I believe that Stella stopped at the end when the JPEG
> decoder crashed. So there are stability issues too. However, all
> of the electronics seems 100% - no crashes or faults.
>
> I'm not sure how Stella can drive the IDSC outdoor contest course
> later this month. Most robots have GPS and odometry to correct
> for drift (...Kalman filter...). As Stella has only a webcam, not
> even odometry, the only thing she can do is drive by the clock
> and correct based on what she sees at a very low frame rate. I'm
> thinking that I can drive any contest course manually by remote
> control and have Stella take pictures along the way. Then a
> solution can be programmed based on this. The webcam images are
> what Stella must use to correct for drift.
>
> Chris
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