{"id":91,"date":"2020-12-16T22:00:07","date_gmt":"2020-12-16T22:00:07","guid":{"rendered":"http:\/\/mscvprojects.ri.cmu.edu\/2020teama\/?page_id=91"},"modified":"2020-12-22T22:01:50","modified_gmt":"2020-12-22T22:01:50","slug":"spring-2020","status":"publish","type":"page","link":"https:\/\/mscvprojects.ri.cmu.edu\/2020teama\/spring-2020\/","title":{"rendered":"Spring 2020"},"content":{"rendered":"\n<h4 class=\"wp-block-heading\">Important links<\/h4>\n\n\n\n<p>Spring Presentation slides<br><a href=\"https:\/\/docs.google.com\/presentation\/d\/1Qyq_EHMxuz5Mnm6UY2Pt8GjWNu-vAqSbMBVzQySh0Go\/edit?usp=sharing\">https:\/\/docs.google.com\/presentation\/d\/1Qyq_EHMxuz5Mnm6UY2Pt8GjWNu-vAqSbMBVzQySh0Go<\/a><\/p>\n\n\n\n<p>Spring Presentation video<br><a href=\"https:\/\/drive.google.com\/file\/d\/1a4smV3DKota_uJUdCWi6pGwwjMb-NlmG\/view?usp=sharing\">https:\/\/drive.google.com\/file\/d\/1a4smV3DKota_uJUdCWi6pGwwjMb-NlmG\/view?usp=sharing<\/a><\/p>\n\n\n\n<h4 class=\"wp-block-heading\">Description<\/h4>\n\n\n\n<p>The bulk of the Spring semester was spent in Literature surveys. We looked at a bunch of papers and went back and forth with our advisor and sponsors to finalize the problem description. We decided to look at the problem of SLAM as a graph-based non-linear least squares optimization problem:<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"648\" height=\"503\" src=\"https:\/\/mscvprojects.ri.cmu.edu\/2020teama\/wp-content\/uploads\/sites\/31\/2020\/12\/slam_factorgraph.png\" alt=\"\" class=\"wp-image-164\" srcset=\"https:\/\/mscvprojects.ri.cmu.edu\/2020teama\/wp-content\/uploads\/sites\/31\/2020\/12\/slam_factorgraph.png 648w, https:\/\/mscvprojects.ri.cmu.edu\/2020teama\/wp-content\/uploads\/sites\/31\/2020\/12\/slam_factorgraph-300x233.png 300w, https:\/\/mscvprojects.ri.cmu.edu\/2020teama\/wp-content\/uploads\/sites\/31\/2020\/12\/slam_factorgraph-230x179.png 230w, https:\/\/mscvprojects.ri.cmu.edu\/2020teama\/wp-content\/uploads\/sites\/31\/2020\/12\/slam_factorgraph-350x272.png 350w, https:\/\/mscvprojects.ri.cmu.edu\/2020teama\/wp-content\/uploads\/sites\/31\/2020\/12\/slam_factorgraph-480x373.png 480w\" sizes=\"auto, (max-width: 648px) 100vw, 648px\" \/><figcaption>Fig 1: Factor graph visualization of the non linear optimization problem of Simultaneous Localization and Mapping (SLAM). <br>Dellaert, Frank, and Michael Kaess. &#8220;Factor graphs for robot perception.&#8221; <em>Foundations and Trends\u00ae in Robotics<\/em> 6.1-2 (2017): 1-139.&#8221;<\/figcaption><\/figure>\n\n\n\n<p>We finally decided the setting we wanted to assume was RGBD sensors and a sparse point cloud. Hence we decided to base the method on ORB-SLAM2, a state of the art method for RGBD video and sparse cloud representation with no GPU support for semantic maps.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"512\" height=\"328\" src=\"https:\/\/mscvprojects.ri.cmu.edu\/2020teama\/wp-content\/uploads\/sites\/31\/2020\/12\/orbslam2.gif\" alt=\"\" class=\"wp-image-162\" \/><figcaption>Fig 1: A visualization of ORBSLAM2 pipeline<\/figcaption><\/figure><\/div>\n\n\n\n<p>There were a lot of intial experiments we conducted using a ZED camera at our home to determine the performance of ORBSLAM2 with respect to relocalization and map maintenance. We included some qualitative and quantitative analysis in the presentation.<\/p>\n\n\n\n<p>We attempted to integrate wheel odometry with ORB-SLAM2 by adding the wheel encoder measurements as an additional factor in the back-end optimization problem. This can help in tracking despite having textureless surfaces. However, after spending a lot of time on this, we switched to other approaches as the sponsors were not as interested in this direction. Link to visualization: <a href=\"https:\/\/drive.google.com\/file\/d\/1Nk4CcPvMcFuQtTMa0Rb_XMZjmv2DSc_9\/view?usp=sharing\">https:\/\/drive.google.com\/file\/d\/1Nk4CcPvMcFuQtTMa0Rb_XMZjmv2DSc_9\/view?usp=sharing<br><\/a><\/p>\n\n\n\n<p>The second experiment was a relocalization experiment. We first used the openLORIS dataset to extract pairs of frames for relocalization along with their ground truth relative pose. This was used to design a simple experiment of the relocalization performance of the PnP+RANSAC method. We compared the performance of PnP with and without using semantic maps. We found some results which are in the presentation. The updated results and discussion can be seen in out Fall semester page <a href=\"https:\/\/mscvprojects.ri.cmu.edu\/2020teama\/fall-2020\/\">[here]<\/a>.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Important links Spring Presentation slideshttps:\/\/docs.google.com\/presentation\/d\/1Qyq_EHMxuz5Mnm6UY2Pt8GjWNu-vAqSbMBVzQySh0Go Spring Presentation videohttps:\/\/drive.google.com\/file\/d\/1a4smV3DKota_uJUdCWi6pGwwjMb-NlmG\/view?usp=sharing Description The bulk of the Spring semester was spent in Literature surveys. We looked [&hellip;]<\/p>\n","protected":false},"author":71,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-91","page","type-page","status-publish","hentry"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v28.1 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Spring 2020 - Long Term Mapping for SLAM in Dynamic Environments<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/mscvprojects.ri.cmu.edu\/2020teama\/spring-2020\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Spring 2020 - Long Term Mapping for SLAM in Dynamic Environments\" \/>\n<meta property=\"og:description\" content=\"Important links Spring Presentation slideshttps:\/\/docs.google.com\/presentation\/d\/1Qyq_EHMxuz5Mnm6UY2Pt8GjWNu-vAqSbMBVzQySh0Go Spring Presentation videohttps:\/\/drive.google.com\/file\/d\/1a4smV3DKota_uJUdCWi6pGwwjMb-NlmG\/view?usp=sharing Description The bulk of the Spring semester was spent in Literature surveys. 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