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tesla_journal11 [2019/10/16 18:01] – created yuhanghetesla_journal11 [2019/10/16 18:01] (current) – yuhanghe
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 ==== Project Status ==== ==== Project Status ====
 This week I focused on the integrating Ricoh Theta V camera with Spot. Ricoh Theta V is a popular 360 camera on the market. Matt is hoping to test Ricoh Theta V mounted on Spot to perform construction site monitoring. He was inspired by a company called HoloBuilder that developed a workflow of using 360 cameras to monitor and document construction progress. This Thursday, they had a demo with Boston Dynamics at the San Francisco Airport's new terminal. I could not attend the demo myself, but one of my collegue, Bahir, was there to check out their system. His general impression was that their system could potentially integrated into Tesla's BIM development. Their roadmap looks promising. However, a lot of work would be required. This week I focused on the integrating Ricoh Theta V camera with Spot. Ricoh Theta V is a popular 360 camera on the market. Matt is hoping to test Ricoh Theta V mounted on Spot to perform construction site monitoring. He was inspired by a company called HoloBuilder that developed a workflow of using 360 cameras to monitor and document construction progress. This Thursday, they had a demo with Boston Dynamics at the San Francisco Airport's new terminal. I could not attend the demo myself, but one of my collegue, Bahir, was there to check out their system. His general impression was that their system could potentially integrated into Tesla's BIM development. Their roadmap looks promising. However, a lot of work would be required.
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 I started looking into the SDK for the RT V. I was hoping that they have a framework for wireless live streaming I started looking into the SDK for the RT V. I was hoping that they have a framework for wireless live streaming
 so that an operator may have a 360 awareness of the surrounding while operating Spot. However, their live streaming solution seems to only works with online streaming services like YouTube and Facebook. Since the Spot network does not have access to internet and online streaming is prohibited inside factory. I must find another way to live stream. so that an operator may have a 360 awareness of the surrounding while operating Spot. However, their live streaming solution seems to only works with online streaming services like YouTube and Facebook. Since the Spot network does not have access to internet and online streaming is prohibited inside factory. I must find another way to live stream.
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 Besides the 360 camera, I looked into the SDK for Intel RealSense D435 camera. The D435 camera active stereo technique to create a depth map in addition to its color camera. The depth map can be treated as a very low resolution point cloud. The idea behind RGB-D camera is to use it as an additional camera for computer vision and visual SLAM. I spent sometime trying to learn some basic concepts about visual odometry and visual SLAM. I found an open source VSLAM algorithm called ORB-SLAM. I am working on integrating ORB-SLAM algorithm and D435. Besides the 360 camera, I looked into the SDK for Intel RealSense D435 camera. The D435 camera active stereo technique to create a depth map in addition to its color camera. The depth map can be treated as a very low resolution point cloud. The idea behind RGB-D camera is to use it as an additional camera for computer vision and visual SLAM. I spent sometime trying to learn some basic concepts about visual odometry and visual SLAM. I found an open source VSLAM algorithm called ORB-SLAM. I am working on integrating ORB-SLAM algorithm and D435.
  
 ==== Project Agenda ==== ==== Project Agenda ====
 The goal for next week would be to complete the integration between Ricoh Theta V and Spot GUI. In addition, I want to find a solution to wireless live streaming the 360 camera feed to the operator. Although Spot has cameras mounted on each side, they are busy being used for Spot's obstacle detection algorithm. A 360 camera view can give operator a better understanding of the surrounding. Finally, I want to test the performance of ORB-SLAM with the D435 camera. The goal for next week would be to complete the integration between Ricoh Theta V and Spot GUI. In addition, I want to find a solution to wireless live streaming the 360 camera feed to the operator. Although Spot has cameras mounted on each side, they are busy being used for Spot's obstacle detection algorithm. A 360 camera view can give operator a better understanding of the surrounding. Finally, I want to test the performance of ORB-SLAM with the D435 camera.
tesla_journal11.1571274098.txt.gz · Last modified: by yuhanghe