Version History

• Alpha 4.1: 2016-01-12

  • Storing copy of configuration file into log folder to replicate experiments.
  • Debugged weird problem of nans in ekf. The source was using a bad imudata file. It had commas separating values and need to have tabs.

• Alpha 4.0: 2016-01-12

  • Added Linux compatibility
  • Improved GUI - toggles for visualization, separate cameras in viewports, improved text outputs
  • An ICP result must now be a valid translation AND have a good score. (relax parameters to accept more clouds)
  • Avoid ObjectMap application crash when ICP return nans in transformation result. Now if that happens, that iteration is ignored. If all iteration fails, then we keep the guess as result.
  • Added logs in all the application for debugging and data-processing purposes.
  • Added Matlab scripts to analyse data from application.

• Alpha 3.0: 2016-01-08

  • Fixed bug in reprojection to images.
  • Exiting iterations in ICP to prevent unnecessary iterations.
  • Added flag in config file for floor learning.
  • Improved interface.
  • Fixed bug in reprojection to images.
  • Store some information in log.
  • Fixed training and set generation in trainingApp.
  • Using EKF position and compass orientation for ICP guess. Before we used the previous ICP result or EKF position if ICP failed.
  • Floor angle calculation fixed and parameter added to config file.

• Alpha 2.3: 2016-01-02

  • Added floor substraction learned online from first images.
  • Improved ICP adding extra iteration.
  • Improved template matching adding maxScore threshold
  • Added multiscale training in BoW
  • Cleaned multiple references of Coordinate system
  • Added EKF to integrate IMU data from Drone IMU and Stereo Vision Odometry
  • Cleaned mainApplication pipeline
  • Improved dataset recorder
  • Removed members in stereo cameras related to camera position
  • Improved map generation pipeline checking quality of results in ICP and using also EKF results.

• Alpha 2.2: 2015-12-08

  • Moved common files to an external library.
  • Tested Ekf that joins imu and "faked icp" position.
  • Tested recordDataset application with real UAV.

• Alpha 2.1: 2015-12-01

  • Forked cjson to be able to solve small fixes. Fixed parsing errors in cjson.
  • Created application to record images and imu information in one dataset.

• Alpha 2.0: 2015-11-25

  • Fixed drawn of bound boxes of candidates.
  • Fixed crop of candidates when they are out of camera range.
  • Keeping candidates over time.
  • Comparing Candidate position with ground truth.
  • Added HoG as possible feature descriptor.
  • Using libsvmpp library as SVM tool for machine learning and object categorization.
  • Creation of histogram of features using OpenCV.
  • Improved blur detection method and fixed thresholds.
  • Improved localization of the camera.
  • Improved GUI (3d, plot of time, etc.)