DOM (Dynamic Obstacle Map)

by Matthew J.W. Fala, Jaimie Chen

Credits

• Coordinated by Matthew Fala
• DOM by Matthew Fala
• Camera InView Function by Jaimie Chen
• KOrderMath by Kishore Venkateshan
• Euler Rotation from UTexas CS354 via web

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Documentation

Description:

... The DOM (Dynamic Obstacle Map) was written for USC AUV by Matthew J.W. Fala. It consolidates all Computer Vision Obstacle discoveries and dynamically generates a probability map. Objects that have a high threshold probability of existence are logged to a FOM or Fixed Obstacle Map on the client side.

Python Interface

Call update_actors to update the world

ROS Interface (Needs Implementation)

Interface: ROS Message

• ROS Topic: /fom

MSG Parameters:

• string cmd
• string type
• int id
• float64 x
• float64 y
• float64 z

Continuation:

OBSTACLES

• Gate
• Dice Buoy
• Chip Dispenser
• Slot Machine
• Roulette
• Cashier Bins