Friday, October 30, 2009

A baby version of my bearing vision only EKF slam on our robot

It's the first version my EKF slam on this robot. The goal is fusion odometry with monocular vision. No ground truth, but from the video we can see the odometry can not close the loop and the slip make the trajectory can not be a circle. But the result from EKF_slam works here, it correct the angle of rotation when the robot have a sharp turn.

Lane detection, following and obstacle detection and avoidance

Here is our group's robot. The main work includes:

1. Lane detection
2. Lane following
3. obstacle detection
4. obstacle avoidance
5. Real time system

Anyway, it works now. Now I need do more work to challenge more complex situation and explore much more my own research and implement them on this volksrobot.

Wednesday, October 21, 2009

Setting nfs client to run server's program

System: Ubuntu
1. Install NFS client:
#sudo apt-get install portmap nfs-common
2. Mount the server files on laptop:
#sudo mkdir /nfs/matlab
#sudo mount server:/pub/matlab /nfs/matlab

Now it should work.
If you want to automount it, you need install autofs first:
1. Install autofs
# sudo apt-get install autofs
2. Add the following line at the end of /etc/auto.master:
/nfs /etc/auto.nfs
3. create a file /etc/auto.nfs and add following line( please make sure the dpi file doest include any file has same name with "matlab"):
matlab server:/pub/matlab
4. reload configure file:
$ sudo /etc/init.d/autofs reload
5. Check if it works:
$ls /nfs/matlab


When I install it by apt-get on ubuntu, it doesn't work. Afterwards I download its source file and install it manually. Now it works.

But it uses evince as default dvi viewer and the output is quite bad. So I first change the default viewer by right click the icon of file and choose xdvi. It works just when I open the dvi file but not for gvim.

So I think I need set vim-latex's parameter. Finally I get it:
Open a .tex file and type "let g:Tex_ViewRule_dvi = 'xdvi'" . Now use the shortcut \lv of this suit, it show the file by xdvi.
I add this line to ./vim/ftplugin/tex.vim file. Now it works fine.

I also try the kdvi, but it can not work here. I still don't know the reason.