Actions » History » Version 2
Quentin Labourey, 2018-01-09 17:40
| 1 | 1 | Quentin Labourey | h1. Actions |
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| 2 | 2 | Quentin Labourey | |
| 3 | h2. Concerning DFNs |
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| 5 | *A.: Fault detection in PoM:* this comes down to data interpretation. Each time a pose is computed, an associated covariance is produced. The question is: how can the covariance (or any measure of error) be used to detect when a localization module is being faulty? |
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| 6 | *Leads*: outlier covariance? Slippage detection? |
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| 8 | --- |
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| 10 | *A.: Fault detection in DEM building:* Each time a new Point cloud is available, a local DEM is built. In order for it to be fused with a larger DEM, we have to make sure that the localization of the robot is precise enough, else we are going to fuse two different geographic area and add noise to the DEM. |
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| 11 | *Leads*: outlier height could be detected? Quadratic error measure between local DEM and internal/global DEM? |
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| 13 | -- |
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| 16 | Make budget for the M3 operation (PM3_24) |
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| 17 | - Cf interrobot communications ? -> not existing directly, everything goes through ground station (multi robot scheme and setup still need to be defined) |
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| 18 | - balance of partners involvment in the DFPC, state where LAAS will effectively contribute -> still TBD |
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| 19 | - DataTypes definition and taxonomy -> still more work to do on this (DEM) |
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| 20 | - DPM: raw data, intermediary products, data products- cf ORB Slam |
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| 21 | - Prepare a development plan and a validation plan for LAAS robots -> in boxes |
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| 22 | - sujets de stage ? -> TBD (different DFIs of the same DFNs, e.g. test different visual extractors) |
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| 23 | - Choisir la liste des capteurs, se faire 2 super robots (caméra panoramique ?) -> |