Project Overview
Using an approved robotics platform (e.g. Anki Cozmo, Neato Vacuum, Lego Mindstorms) implement or improve upon an implementation of Monte Carlo Localization with an attempt to solve the Kidnapped Robot Problem.
Read More About MCL
Phase I
Enable Cozmo to spin a full 360°, taking photos every 10°. After the photos are taken they will be stitched into a panorama to be used as a map.
Phase II
The robot is then turned a random amount and creates a uniform distribution of X values within the panorama.
Phase III
Cozmo continues to rotate and take pictures to localize himself and figure out where he is in the panorama.
Want to know more? Read more about the kidnapped robot problem.
OUR AWESOME TEAM
Team Logs
Below you will find the contributions of all team members for the project.
Nick Weinel
Web/Software Developer
4/28:
4:45PM – 7:45 PM
Set up Cozmo, worked on getting cozmo to spin and take pictures
4/29:
3:00PM – 8:00 PM
Worked on creating the team website and began populating the web pages
4/30:
1:55PM – 2:25 PM
Reviewed project site with team and worked more on image stitching
4:00PM – 6:30PM
Fixed image stitching, and figured out how to crop the panorama
5/2:
5:00PM – 7:00PM
Worked on localization and began calculating probabilities
5/3
4:45 – 5:15
Small updates on the website
5/5
5:00PM – 6:00PM
Worked on image resampling and calculating probabilities. In addition, we began work on automating the process
5/8
2:00PM – 9:30PM
Finished up work on the website. Also put finishing touches on Cozmo algorithm including processing image data and using MCL to find home.
25 total hours
Charlie Stewart
Software Developer
4/28:
4:45PM – 7:45 PM
Set up Cozmo, worked on getting cozmo to spin and take pictures
4/29:
4:00PM – 7:00 PM
Worked on image stitching as well creating a script to compare to images
4/30:
1:55PM – 2:25 PM
Looked over project site and looked more at image stitching
4:00PM – 6:30PM
Fixed image stitching, and figured out how to crop the panorama. Also began
thinking about how to implement the various algorithms needed.
5/2:
1:00PM – 2:30PM
Worked on localization algorithm, calculating MSE for random points
5:00PM – 7:00PM
Continued to work on localization and began calculating probabilities
5/3
4:45 – 5:15
Small updates on the website
5/5
1:00PM – 6:00PM
Did a lot of work with image resampling and calculating probabilities.
Also worked on streamlining the process allowing the process to be more automated
5/8
1:00PM – 11:00PM
Finishing up MCL Algorithm and cleaning up code.
5/9
11:30AM-2:00PM
Final testing and debugging.
30.5 total hours
Matt Ainsworth
Software Developer
4/28:
4:45PM – 7:45 PM
Initial set up and linking with the cozmo
4/29:
4:00PM – 5:00 PM
Began trying to implement image stitching algorithm
4/30:
1:55PM – 2:25 PM
More time spent stitching images in class and fixing bugs
4:00PM – 6:30PM
Try to figure out how to crop images from the panorama and compare them together with
images from the cozmo
5/2:
1:00PM – 2:30PM
Began the localization algorithm as well as different ways for
calculating image differences
5:00PM – 7:00PM
Began trying to implement how to solve for the probabilities
of locations based on images
5/5
1:00PM – 6:00PM
Began to work on the resampling algorithm with the probabilies
as well as merging files to work together
5/8
1:00PM – 11:00PM
Finishing up MCL Algorithm and cleaning up code.
5/9
11:30AM-2:00PM
Final testing and debugging.
30.5 total hours
Jake Poff
Software Developer
4/28:
4:45PM – 7:45 PM
Set up Cozmo, worked on getting cozmo to spin in a circle and take pictures
4/29:
4:00PM – 6:00 PM
Started working with image stitching and comaring images
4/30:
1:55PM – 2:25 PM
Look at project site with team and continued image stitching
4:00PM – 6:30PM
Worked on comparing images and stitching them.
5/5
5:00PM – 6:00PM
Image resampling and calculating probabilities of points. Began work on automating the process.
5/8
2:00PM – 7:30PM
Finished up work on the website. Also put finishing touches on Cozmo algorithm with resampling and troubleshooting bugs.
10:00PM-1:30AM
Added elements (logs and code) to website and reviewed code.
9:15AM-12:00PM
~21 total hours
Parker Sorenson
Software Developer
4/28:
2-5PM
Downloaded Cozmo code, worked with team members to take pictures
4/30:
1:00PM-2:30PM
Worked on stitching images
5/2:
1:00PM – 2:30PM
Worked with team members to integrate Cozmo and our own python files
5/2:
4PM – 7PM
Took pictures, working on stitching images, worked on generating MSE from images
5/5:
2:30PM – 6:30PM
Discussed implementation of program, figured out resampling
5/8:
5:00PM – 10:30PM
Tried to get robot to localize successfully
5/9
11:30AM-2:00PM
Final testing and debugging.
21 total hours
