{"id":437,"date":"2021-03-10T04:29:16","date_gmt":"2021-03-10T04:29:16","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2021teamd\/?page_id=437"},"modified":"2021-12-08T20:33:11","modified_gmt":"2021-12-08T20:33:11","slug":"real-life-robotic-system","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamd\/implementation\/real-life-robotic-system\/","title":{"rendered":"Real-life Robotic System"},"content":{"rendered":"\n<h3 class=\"wp-block-heading\">System Status at the Progress Review #12 \/ 13<\/h3>\n\n\n\n<p>The full system implementation in Fall can be found\u00a0<a href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamd\/performance\/fall-validation-demo\/\" data-type=\"URL\" data-id=\"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamd\/performance\/fall-validation-demo\/\">here<\/a>.<\/p>\n\n\n\n<hr class=\"wp-block-separator\" \/>\n\n\n\n<h3 class=\"wp-block-heading\">System Status at the Progress Review #11<\/h3>\n\n\n\n<p>Sensor fusion of camera \/ LiDAR perception for pedestrians<\/p>\n\n\n\n<iframe loading=\"lazy\" width=\"840\" height=\"640\" src=\"https:\/\/www.youtube.com\/embed\/rgoOHZAkp7k\" frameborder=\"0\" allowfullscreen=\"\"><\/iframe>\n\n\n\n<hr class=\"wp-block-separator\" \/>\n\n\n\n<h3 class=\"wp-block-heading\">System Status at the Progress Review #10<\/h3>\n\n\n\n<p>Camera perception has been integrated with the Ground Truth Subsystem.<\/p>\n\n\n\n<iframe loading=\"lazy\" width=\"840\" height=\"640\" src=\"https:\/\/www.youtube.com\/embed\/g99rjNguS5Q\" frameborder=\"0\" allowfullscreen=\"\"><\/iframe>\n\n\n\n<p> Automatic precision \/ recall calculation for detection performance<\/p>\n\n\n\n<iframe loading=\"lazy\" width=\"840\" height=\"640\" src=\"https:\/\/www.youtube.com\/embed\/qLSUoWfATCo\" frameborder=\"0\" allowfullscreen=\"\"><\/iframe>\n\n\n\n<hr class=\"wp-block-separator\" \/>\n\n\n\n<h3 class=\"wp-block-heading\">System Status at the Progress Review #9<\/h3>\n\n\n\n<p>Real-time object detection; YOLO deployed to Jetson on our robot.<\/p>\n\n\n\n<iframe loading=\"lazy\" width=\"840\" height=\"640\" src=\"https:\/\/www.youtube.com\/embed\/GaS2_jLv1Ds\" frameborder=\"0\" allowfullscreen=\"\"><\/iframe>\n\n\n\n<hr class=\"wp-block-separator\" \/>\n\n\n\n<h3 class=\"wp-block-heading\">System Status at the Progress Review #8<\/h3>\n\n\n\n<p>We implemented LiDAR perception to detect obstacles and visualize point clouds from LiDAR.<\/p>\n\n\n\n<div align=\"center\"><figure class=\"aligncenter size-medium\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2021teamd\/wp-content\/uploads\/sites\/53\/2021\/10\/lidar_perception.png\" alt=\"\" class=\"wp-image-46 img-responsive\" width=\"1200\" height=\"300\"><\/figure><\/div>\n\n\n\n<p>We trained YOLO and performed a preliminary test of its detection and classification performance.<\/p>\n\n\n\n<div align=\"center\"><figure class=\"aligncenter size-medium\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2021teamd\/wp-content\/uploads\/sites\/53\/2021\/10\/camera_perception.png\" alt=\"\" class=\"wp-image-46 img-responsive\" width=\"1200\" height=\"300\"><\/figure><\/div>\n\n\n\n<hr class=\"wp-block-separator\" \/>\n\n\n\n<h3 class=\"wp-block-heading\">System Status at the Progress Review #7<\/h3>\n\n\n\n<p>We built the ground truth subsystem(2m * 2m down-scaled testing environment). We attached April tags to obstacle mockups to detect and localize each obstacles.<\/p>\n\n\n\n<div align=\"center\"><figure class=\"aligncenter size-medium\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2021teamd\/wp-content\/uploads\/sites\/53\/2021\/10\/GTS.png\" alt=\"\" class=\"wp-image-46 img-responsive\" width=\"1200\" height=\"300\"><\/figure><\/div>\n\n\n\n<iframe loading=\"lazy\" width=\"840\" height=\"640\" src=\"https:\/\/www.youtube.com\/embed\/gdNwuhhj060\" frameborder=\"0\" allowfullscreen=\"\"><\/iframe>\n\n\n\n<p>We installed a new camera and PCB cooling fan on the Turtlebot by adding 3D-printed mounts.<\/p>\n\n\n\n<div align=\"center\"><figure class=\"aligncenter size-medium\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2021teamd\/wp-content\/uploads\/sites\/53\/2021\/10\/robot_update.png\" alt=\"\" class=\"wp-image-46 img-responsive\" width=\"1200\" height=\"300\"><\/figure><\/div>\n\n\n\n<p>We collected and augmented image data; then, we have ~2000 obstacle images. We also labeled them to train the YOLO detection algorithm.<\/p>\n\n\n\n<div align=\"center\"><figure class=\"aligncenter size-medium\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2021teamd\/wp-content\/uploads\/sites\/53\/2021\/10\/dataset.png\" alt=\"\" class=\"wp-image-46 img-responsive\" width=\"1200\" height=\"300\"><\/figure><\/div>\n\n\n\n<hr class=\"wp-block-separator\" \/>\n\n\n\n<h3 class=\"wp-block-heading\">System Status at the Progress Review #5 \/ #6<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">Power Distribution Board<\/h4>\n\n\n\n<p>The full system implementation in Spring can be found&nbsp;<a href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamd\/performance\/spring-validation-demo\/\">here<\/a>. Also, the schematic and layout of the Power Distribution Board can be found <a href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamd\/drawings-and-datasheets\/\" data-type=\"URL\" data-id=\"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamd\/drawings-and-datasheets\/\">here<\/a><\/p>\n\n\n\n<div align=\"center\"><figure class=\"aligncenter size-medium\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2021teamd\/wp-content\/uploads\/sites\/53\/2021\/05\/turtle_PDB.png\" alt=\"\" class=\"wp-image-46 img-responsive\" width=\"1200\" height=\"400\"><\/figure><\/div>\n\n\n\n<hr class=\"wp-block-separator\" \/>\n\n\n\n<h3 class=\"wp-block-heading\">System Status at the Progress Review #1<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">Turtlebot Hardware<\/h4>\n\n\n\n<p>We have built the Turtlebot hardware for the real-life robotic system<\/p>\n\n\n\n<div align=\"center\"><figure class=\"aligncenter size-medium\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2021teamd\/wp-content\/uploads\/sites\/53\/2021\/03\/turtlebot.png\" alt=\"\" class=\"wp-image-46 img-responsive\" width=\"1200\" height=\"800\"><\/figure><\/div>\n\n\n\n<hr class=\"wp-block-separator\" \/>\n\n\n\n<iframe loading=\"lazy\" width=\"840\" height=\"640\" src=\"https:\/\/www.youtube.com\/embed\/uL3LiMhjFLw\" frameborder=\"0\" allowfullscreen=\"\"><\/iframe>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>System Status at the Progress Review #12 \/ 13 The full system implementation in Fall can be found\u00a0here. System Status at the Progress Review #11 Sensor fusion of camera \/ LiDAR perception for pedestrians System Status at the Progress Review #10 Camera perception has been integrated with the Ground Truth Subsystem. Automatic precision \/ recall &#8230; <a href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamd\/implementation\/real-life-robotic-system\/\" class=\"more-link text-uppercase small\"><strong>Continue Reading<\/strong> <i class=\"fa fa-angle-double-right\" aria-hidden=\"true\"><\/i><\/a><\/p>\n","protected":false},"author":242,"featured_media":0,"parent":278,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-437","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamd\/wp-json\/wp\/v2\/pages\/437","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamd\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamd\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamd\/wp-json\/wp\/v2\/users\/242"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamd\/wp-json\/wp\/v2\/comments?post=437"}],"version-history":[{"count":17,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamd\/wp-json\/wp\/v2\/pages\/437\/revisions"}],"predecessor-version":[{"id":746,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamd\/wp-json\/wp\/v2\/pages\/437\/revisions\/746"}],"up":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamd\/wp-json\/wp\/v2\/pages\/278"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2021teamd\/wp-json\/wp\/v2\/media?parent=437"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}