{"id":410,"date":"2019-05-10T19:24:08","date_gmt":"2019-05-10T19:24:08","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/?p=410"},"modified":"2019-05-11T19:25:45","modified_gmt":"2019-05-11T19:25:45","slug":"nav-v1","status":"publish","type":"post","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/2019\/05\/10\/nav-v1\/","title":{"rendered":"Nav v1"},"content":{"rendered":"<p>Considering the task, it is important for us to reach waypoints near the pick-up<br \/>\nand placement zones reliably. In order to achieve this, we fuse the pose estimate<br \/>\nfrom both the tracking camera and the GPS measurement unit. The tracking<br \/>\ncamera provides a 6DOF pose estimate based on visual inertial odometry. We<br \/>\nhave found that this works very reliably for smaller distances but is not suitable<br \/>\nin the presence of moving objects, or at high speeds. Therefore, we consider<br \/>\nproviding a higher weight to the GPS estimate. This is especially useful since<br \/>\nwe only need to be within a certain error threshold of the waypoint, such that<br \/>\nthe blocks are within the FOV of the camera.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-content\/uploads\/sites\/33\/2019\/05\/navsub-1024x459.png\" alt=\"\" width=\"1024\" height=\"459\" class=\"alignnone size-large wp-image-411\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-content\/uploads\/sites\/33\/2019\/05\/navsub-1024x459.png 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-content\/uploads\/sites\/33\/2019\/05\/navsub-300x135.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-content\/uploads\/sites\/33\/2019\/05\/navsub-768x344.png 768w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Considering the task, it is important for us to reach waypoints near the pick-up and placement zones reliably. In order to achieve this, we fuse the pose estimate from both the tracking camera and the GPS measurement unit. The tracking camera provides a 6DOF pose estimate based on visual inertial odometry. We have found that<br \/><a class=\"moretag\" href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/2019\/05\/10\/nav-v1\/\">+ Read More<\/a><\/p>\n","protected":false},"author":148,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[6],"tags":[],"class_list":["post-410","post","type-post","status-publish","format-standard","hentry","category-navigation"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-json\/wp\/v2\/posts\/410","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-json\/wp\/v2\/users\/148"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-json\/wp\/v2\/comments?post=410"}],"version-history":[{"count":1,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-json\/wp\/v2\/posts\/410\/revisions"}],"predecessor-version":[{"id":412,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-json\/wp\/v2\/posts\/410\/revisions\/412"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-json\/wp\/v2\/media?parent=410"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-json\/wp\/v2\/categories?post=410"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamc\/wp-json\/wp\/v2\/tags?post=410"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}