Meet Spot

Northeastern University Field Robotics Lab: Spot the quadruped by Boston Dynamics has cameras and LiDAR which will be used for SLAM in this project.

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Stair Climbing

Spot can easily traverse between floors of the building. This creates an issue of perceptual aliasing and erroneous loop closure.

Color Calibration Rig

Collaboration on research to determine color correction profile on underwater images a posteriori. Rig consists of three 532 nm lasers around a worklight used commonly on research submersibles. This allows the team to take photographs of scenes lit by the worklight, and use the projected laser points to back out the pose the light relative to the camera in order to calibrate the training data. The goal is to train a network to perform color correction.

Color Calibration Rig Detail

Lasers are connected to head with two degrees of freedom to adjust in the tangential and radial dimensions via turnscrew. This allows for calibration of the rig. Laser axes must converge to an exact point in order to validate later geometric assumptions allowing for the calculation of worklight pose.

Stereo Camera Mount

One of four drones I equipped with a light-weight and improved rigidity stereo camera mounts. Replacement for original 3D printed mount which exhibited deformation in multiple axes.