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.

-- DavidMeger - 02 Oct 2009