{"id":407,"date":"2026-04-05T17:36:27","date_gmt":"2026-04-05T17:36:27","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teame\/issue-log\/"},"modified":"2026-04-06T03:42:13","modified_gmt":"2026-04-06T03:42:13","slug":"issue-log","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teame\/issue-log\/","title":{"rendered":"Issue Log"},"content":{"rendered":"\n<figure class=\"wp-block-table alignwide is-style-regular\"><table class=\"has-fixed-layout\"><tbody><tr><td>Item No.<\/td><td>Date Initiated <\/td><td>Date Resolved<\/td><td>Participants<\/td><td>Description<\/td><td>Options<\/td><td>Resolution<\/td><td>Justification<\/td><\/tr><tr><td>1<\/td><td>3\/31<\/td><td>4\/6<\/td><td>Sam Dong<\/td><td>The live camera stream (~30 FPS) was significantly faster than the skeleton detection model inference speed (~1 FPS). With default ROS 2 QoS settings, excess frames were dropped when the queue filled, causing inconsistent frame sampling and discontinuous motion in the output data, negatively affecting anomaly detection performance.<\/td><td>1. Reduce camera frame rate. 2. Modify ROS QoS queue size. 3. Implement frame downsampling and internal processing queue.<\/td><td>Implemented a configurable down sample rate parameter and an internal frame queue in the skeleton detection node to push one frame every N frames for processing.<\/td><td>This ensures frames are processed at a consistent interval matching inference speed, resulting in continuous motion data and more stable input for anomaly detection.<\/td><\/tr><tr><td>2<\/td><td>2\/11<\/td><td>2\/27<\/td><td>Sam Dong<\/td><td>The B-spline path smoothing step occasionally cut corners and caused collisions near obstacles or wall corners due to excessive smoothing.<\/td><td>Remove smoothing and use original A* path. 2. Increase obstacle inflation radius. 3. Modify smoothing algorithm to be collision-aware. 4. Explore alternative smoothing or learning-based trajectory refinement methods.<\/td><td>Implemented a custom Ran-Corner algorithm: each smoothed point is collision-checked, and if a collision is detected, it is replaced with the nearest point on the original A* path. Additionally, the inflation radius was increased to further reduce collision risk.<\/td><td>The Ran-Corner method reduces collisions while preserving the benefit of path smoothing. Increasing the inflation radius provides a temporary safety margin, though more robust smoothing or learning-based methods will be explored as a long-term solution.<\/td><\/tr><tr><td><\/td><td><\/td><td><\/td><td><\/td><td><\/td><td><\/td><td><\/td><td><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Item No. Date Initiated Date Resolved Participants Description Options Resolution Justification 1 3\/31 4\/6 Sam Dong The live camera stream (~30 FPS) was significantly faster than the skeleton detection model inference speed (~1 FPS). With default ROS 2 QoS settings, excess frames were dropped when the queue filled, causing inconsistent frame sampling and discontinuous motion [&hellip;]<\/p>\n","protected":false},"author":451,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-407","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teame\/wp-json\/wp\/v2\/pages\/407","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teame\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teame\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teame\/wp-json\/wp\/v2\/users\/451"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teame\/wp-json\/wp\/v2\/comments?post=407"}],"version-history":[{"count":4,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teame\/wp-json\/wp\/v2\/pages\/407\/revisions"}],"predecessor-version":[{"id":413,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teame\/wp-json\/wp\/v2\/pages\/407\/revisions\/413"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teame\/wp-json\/wp\/v2\/media?parent=407"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}