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View Code? Open in Web Editor NEWSenior Design Project - Computer Engineering CSULB
Senior Design Project - Computer Engineering CSULB
RTAB-MAP RGB-D SLAM functioning on Ubuntu 16.04 LTS, per Jetson OS requirement.
LIDAR SLAM with Google Cartographer ROS or Hector SLAM ROS.
Excel based documentation, located in Systems folder.
All Power interfaces shall be labeled X#, and all communication interfaces shall be labeled IF#, followed by any sub interfaces.
Design production assembly, start of design shall be this Saturday.
Req:
Filter point cloud extraneous points.
Compress PCL and use voxels to reduce point count.
Capture point clouds based on input from keyboard, sensor, SLAM, etc.
Add specs and testing in CSV, and update block diagrams.
Write test procedure for PSU PCB, include:
Final battery choice and datasheets need to be declared.
RTAB-MAP functioning on ROS on Jetson
Test PCL registration using iterative closest point (icp).
Populate power supply PCB for testing.
Third page is first, need to reorder pages
Robot Operating System on Jetson TX1
Match Ref Des of CircuitMaker to OrCAD for post board fab.
Color point cloud with Realsense SDK
Update to include interface declarations, interface table, and new devices.
Need parts and part numbers linked in BOM, place into electrical directory
Power Supply needs associated Gerber file for layout.
Need color capture with PCL integration, save to PCD or PLY
Stitch multiple captures into one entity after filtering (before or after triangulation TBD)
Need STEP file uploaded to Mechanical directory
Add new items, and document item specs in CDR Google Doc.
Triangulate points to mesh for final capture.
Assemble chassis, and integrate power supply.
Testing with Google Cartographer and Hector SLAM for ease of use and overall best functionality.
Bluetooth control code needed in software.
PCB drawing needs uploading to Power Supply directory
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