Meeting Minutes 24/10/19

[InvisibleTree]

Localisation + Tools

• Utilize ICP algorithm to localise captured point clouds to target prior map
• AnyMal uses ICP-tools, however cannot port to Rooster due to EULA infringement issues
• AICP will be used, an in house algorithm based off of the libpointmatcher library
  • Features a non-slam for pure localisation which we will use

Going Forward: Short Term

• Become familiar with AICP and running it on existing datasets
  • Make sure master branch on machine is up to date with latest code
  • Download data sets from drs_testing_data
• Become familiar with odometry specifically visual odometry with FOVIS
• Edit AICP such that we can save individual point clouds for piping into ESM, as well as saving metadata (pointcloud no, timestamps, poses, quaternions) to a csv file.
• Familiarise more with Visual SLAM, Deep Learning Loop Closure and ESM