phenorobot's Introduction
phenorobot's People
phenorobot's Issues
Camera calibration
- To calibrate the camera for image processing process.
Camera model: ELP-960P2CAM-V90-VC (fisheye)
Synchornous
Sub-task
- Split frame and rerepublish
- Use ros calibration package
Improve re-localization process by object detection
- Use object detection to be a constraint for the relocalization process
- Using a current object to guess where the robot is
- If the robot sees a chair, search in the map where the chair is
Install Darknet
- To install darknet for object detection
- https://pjreddie.com/darknet/yolo/
Zed-stereo
Plan to use zed-stereo camera for sensor
https://www.stereolabs.com/zed/
To install zed and study how to use with openvslam and yolo
Install and test Openvslam
- To test Openvslam frame work
- https://openvslam.readthedocs.io/en/master/
Project detected object to map
- To get the semantic map, we need object detection output in created map
ros-navigation/navigation2#1595
https://github.com/XunshanMan/Object-oriented-SLAM
https://github.com/qixuxiang/orb-slam2_with_semantic_label
Improve performance of object detection
- From testing, we saw that the result is not good.
- We try to list the factor that may effect to detection result
- Camera input
- Fisheye or rectified input
- Grey or color
- Object detection model
- Data set for train
- Algorithm to use
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