inFuse

h1. Wiki

[[Questions]]

h2. Questions

h3. Concerning DFNs and associated data types 

*Q.*: How are we going to use the ASN1 data types defined in InnFuse inside Genom3?

*A.*: Used the compiled C structs from the ASN.1 compiler

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*Q.*: How are the different frames defined (world, site, robot...)?

*A.*: Check frame definition in D5.2

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*Q.*: How should DFNs be organized ? E.g. do all optimization DFNs (such as graph optimization) belong ONLY to DPM? Or can they also be included in other DFPCs?

*A.*: Day 3512 and the fight is still going on about this.

h3. Concerning experimental evaluation

*Q.*: Do we 

h3. Misc.

*Q.*: Which tools are we using to tracking the actions?

*A.*: Wiki pages, Mind maps, TBD

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*Q.*: Should we propose a scientific workshop?

*A.*: If yes, subject TBD

Détection de faute de localisation dans PoM? -> data interpretation ? outlier covariance ? 

Détection de faute de localisation dans DEM  -> outlier heights should be detected ? Quadratic error measure between local DEM and internal/global DEM.

Make budget for the M3 operation (PM3_24)

- Cf interrobot communications ? -> not existing directly, everything goes through ground station (multi robot scheme and setup still need to be defined)

- balance of partners involvment in the DFPC, state where LAAS will effectively contribute -> still TBD

- DataTypes definition and taxonomy -> still more work to do on this (DEM)

- DPM: raw data, intermediary products, data products- cf ORB Slam 

- Prepare a development plan and a validation plan for LAAS robots -> in boxes

- sujets de stage ? -> TBD (different DFIs of the same DFNs, e.g. test different visual extractors)

- Choisir la liste des capteurs, se faire 2 super robots (caméra panoramique ?) ->