This
weekend the Cal Poly team hosted the Harvey Mudd team and Dr. Gambin
for 28 hours of testing, collaborating, and team building. We were able
to deploy the ROV in two different pools (as well as some sonar fun in a
bath tub). These tests gave us each an opportunity to fly, man the
tether, and write logs.
Flying in the pool
The
tests were also a great opportunity to make some mistakes. We
discovered several small things that we will need to find or purchase
before we leave. It was a great opportunity to make some mistakes, since
they can still be fixed before our departure date. We were also able to
agree upon several software features that we would like to add.
There
have been many changes to my stereo vision work. Last week, Erik
performed some initial tests with the disparity function built into
Matlab. His early tests look promising and in many cases had fewer
invalid regions than the Zitnick Kanade algorithm, which we had
previously been using. We plan to do a more complete test this coming
week. If these tests are successful, my project focus will likely shift
to some digital humanities work and/or point cloud generation based on
the stereo vision data.
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| Right Camera |
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| Matlab |
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| Zitnick Kanade |
I
am really excited about these new projects and I will be spending some
time this weekend investigating my options. More details to come…
-Spencer
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