Author: Yu Hang He, Email: hey6@unlv.nevada.edu
Date Last Modified: 10/28/2019

This week, I have the opportunity to meet Aimee, GF1's intern recruiter/coordinator, during a Tesla intern gathering event. Although, I am not a Tesla intern, I went to the gathering since some of the interns invited me. The gathering was located at a pumpkin farm in Reno. Aimee prepared pizzas and ingredients for making s'mores. Most of the interns was able to attend the events. We sit around the camp fires, eating pizza and making s'mores. I was able to meet some new interns as well. Overall, it was a fun and educational experience as I listen to other intern's experiences.

I was able to successfully mount the 360 camera on Spot using the simple mount that I manufactured. We walked the Spot around the office area while recording a 360 video from the camera. The video resolution from the 360 camera is acceptable, however, it is not detailed enough for depicting words from smaller labels or instrument measurements. Although, it is sufficient for use in construction monitoring where progress monitoring is more important. As expected, the camera vibrates during Spot's locomotion. It is tolerable during medium walking speed but quickly became chaotic at fastest speed. To reduce vibration, a camera stabilizer could be added to the design or more damping can be added to the mount.

I paused working with RGB-D camera for the moment. We are waiting for the release of Spot's autonomous navigation update. It is unclear at this point, whether the development with RGB-D camera will add tangible improvements to Spot's navigation ability. Since majority of use cases depends on Spot's navigation capability that BD promised, I really hope that they successfully deliver it. I am impressed by Spot's ability so far, so I am quite optimistic in that respect.

The discussion with HoloBuilder was quite interesting. The timeline from the two sides are not aligned. HoloBuilder originally planned to start pilot testing after Jan/Feb. However, Matt want to push for testing as early as this week or next month. We have to wait for further response from HB team.

The Engineering All Hands presentation on Friday was a success. Jeff Van Heel, Tesla Infrastructure Engineering Director, was very impressed by the BIM team's presentation. During the presentation, Matt showcased live demo of HoloLense 2 and Spot. Engineers at Tesla are excited about potential use cases for incorporating these technology into their work.

I worked with OpenCV's ArUco module to detect coordinate frame of marker using cameras. This is in preparation for integration between Spot and HoloLense.

Since AutoDesk University will be happening next month. Matt want to push for integration between HoloLense and Spot. The goal is to be able to control Spot functionality using HoloLense's interface. Originally, this was Matt's project. However, since Matt does not have access to Spot, he is limited to what he can accomplish. I am going to start to look into software development for HoloLense.