Weekly Report 01 (04.08. ~ 04.12.)

Overview

• Preliminary Workstation Setup
• Preliminary Studies
• Project Idea Brainstorming & Surface Search
  • Setting PoI (Point of Interest) for Drone by Gesture
  • Robot Clearance Detection
  • Floor Type Detection
  • Drone Mapping for mobile Robot Pathfinding

Preliminary Workstation Setup

• Created Github Repository
  • Created Project Board to track tasks and progress
• Created Toggl Account and Project for time tracking & management
• Installed Jetbrains Toolbox & Pycharm Professional in preparation for programming tasks

Preliminary Studies

• Read through ROS Getting Started
• Read first few Chapters of "Learning OpenCV 3" by Kaehler & Bradski (O'Reilly)

Project Ideas

Setting PoI (Point of Interest) for Drone by Gesture

i.e. pointing at an object to have the drone move to, hover above, or orbit the object.

Preliminary Surface Search:

• Gesture Controlled Drones

Robot Clearance Detection

i.e. detect overhanging obstacles or tunnels, then detect height and calculate whether the mobile robot can fit underneath it

Preliminary Surface Search:

• Overhanging Obstacle Detection
• Obstacle Size Measurement
• Distance and Area Measurement
• Camera Based Size Measurement

Floor Type Detection

i.e. detect type of ground the robot might drive on, detect different surfaces (soft and hard); detect irregularities (dirt/stains) on uniform surfaces.

Preliminary Surface Search:

• Image-Based Floor Segmentation
• Vision-Based Dirt Detection

Drone Mapping for mobile Robot Pathfinding

i.e. use drone to map surfaces to help pathfinding and task planning of mobile robot, possibly together with Floor Type Detection to find stains or dirt and create tasks for robot task planning.

Preliminary Surface Search:

• UAV-Robot-Collaboration
• Drone Pathfinding for Mobile Robot