(r1) Oct72009 < LCI

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---++ Agenda:

   * Start thinking about qualification material (this includes software league if we want to participate in that)

---++ Completed components:

   * Porting of basic drivers for: bumblebee and powerbot
   * Tower design
   
---++Current in-progress task list:

   * Basic robot functions based on ROS. (with aim to perform a preliminary test run of navigation and mapping) [MM and DM]
      * WG nav stack
      * gmapping
      * Coordinate transform codes
      * Tilting laser driver
      * Network configuration and development environment
         * Robot router setup
         * Setup self-administered PC's
         * ROS instructions
      * Tower upgrade:
         * Order material for building a new laser/camera mount and assemble same.
      
   * Recognition framework (James module directly or something built upon that) [AG and CG]
      * Test data interface
      * Felzenswalb detector
      * Helmer
      * Mccann
      * Training data interface and additional parameters 
   * Cuda on fraser [WW and TH]
      * Cuda Sift
      * FastHOG
   * Web grabbing module [PF and CG]
      * Add additional sources of info
      * Investigate filtering techniques
      * Integrate output data format with classification
   * Speed-up of Felzenswalb training
      * Initial investigation to verify this is a doable task (profiling current code, ensuring good performance on web data, investigation of potential speedups such as GPU feature extraction and SVM learning)

---++ Future tasks pending completion of others:

   * High-level control functionality such as planning [DM]
      * Random walk behavior
      * 3 main high-level planners:
      * Top level state machine to choose between above planners
      * Choice of "where-to-look" aka attention system
   * Use of 3D models in recognition
   * Use of 3D information and context in attention system
   * Real time result reporting
   * Feeding back classification results to robot planner
   * Investigate new cameras which might be faster than the Cannon
   * Prioritizing computation done by classifiers towards images which look really promising to the attention system, and based on the classes which have already been recognized.

-- Main.DavidMeger - 02 Oct 2009
Topic revision: r1 - 2009-10-02 - DavidMeger