Sept232009 < LCI

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---++ SRVC Meeting minutes for September 23rd, 2009

   * We discussed moving the robot. CG reported that shipping the bot is possible for about $600 each way. Still need to investigate how to get the bot packed for the trip, which may be possible to do through UBC Shipping/Receiving. CG to investigate and report next week. [CATHERINE].

   * We did a bit of a round-table and decided on the following TO-DO's which we'll aim to be done by next Wednesday's meeting:
      * Complete conversion of basic functions to ROS [Marius and Dave]
         * Tilting laser driver
         * Order material for building a new laser/camera mount and assemble same.
         * WG nav stack
         * Mapping solutions (either ROS::gmapping or port pmap from our old code)
      * Convert "control" type functionality such as high-level planners and executive layer into a format compatible with newly "ROS"d low-level functions. [Dave with help from whoever's interested]
         * Random walk behaviour
         * 3 main high-level planners:
            * Explore frontiers
            * Cover contest area
            * Find tables
            * Look-back and objects
         * Top level state machine to choose between above planners
         * Port all required coordinate transform and viewpoint modeling functions which now exist in matlab to the new architecture to support the planning code.
      * Finalize network configuration and ensure everyone has access to a suitable machine on which to develop [Marius, Dave, Tomas]
         * Setup router on robot with all laptops to operate on local subnet, do nfs mounts, static ips, etc
         * Setup self-administered PC's on 54 subnet and give these machines access to the robot's network (candidate PC's are chifeng (MM), lapinkulta (DM) and norrlands (TH)
         * Provide instructions for all team members to setup their own ROS installation on these machine and/or to use a shared installation [MARIUS]
      * Integrate the recognition harness that James produced, run some tests and add new detectors. [Ankur and Catherine]
         * Define an interface for test data previously collected in robot dry runs, so that detectors can be evaluated on this data. [Ankur]
         * Implement Felzenswalb detector in the framework [Ankur]
         * Implement Helmer detector in the framework [Scott]
         * Implement Mccann detector in the framework [Sancho]
         * Provide an interface for training data which is compatible with the web search phase, and allows for many iterations of training/detection to be done with different training set parameters to allow evaluation of various parameters [Ankur and Catherine]
      * Add additional information and/or filters to the web data grabbing phase [Pooyan, Ankur, Catherine]
         * Provide additional information about each object (which we do plan to use this time): object size, 3D object models whenever possible, object weight, a flag indicating whether or not each image has a simple background [Catherine and Pooyan]
         * Investigate additional image filtering techniques (possibly could use the work of Jay) [Scott, Pooyan]
         * Integrate with new classification framework [Ankur, Catherine, Pooyan]
      * Get fraser (the new big laptop) up and running with CUDA [Tomas and Walter]
         * Install cuda drivers
         * Try Cuda Sift
   * An outstanding TODO from previous meetings: Ask if mechanical turk is ok to use during SRVC training data gathering. [DAVE?]


-- Main.DavidMeger - 28 Sep 2009
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Topic revision: r1 - 2009-09-29 - DavidMeger