“Live up to the time, the creation of non-stop, this article is participating in 2021 year-end summary essay competition”

preface

I am a junior. In the second year, I mixed experience with seniors in various competitions (I also mixed many awards, big and small). In the third year, I started to go on the road, and I can do something by myself. In 2021, I still learned a lot of things, and I can indeed make a summary.

2021 Science and Innovation Experience

1. Learn to use PaddlePaddle to do deep learning (identify men and women with or without glasses) and AR code recognition in smart car racing

The initial calibrationAt the scene of the carAR code identificationDeployment and operation of the modelFinally mixed a country two ha ha

2. Designed an ultrasonic obstacle avoidance car (EGO1) with FPGA for digital electricity self-selection experiment

The car picturesSee my previous post for an introduction

3. Output depth with a binocular camera

My pretty face (blurry to stifle)

The difference map was generated by Block Maching method, and the internal and external parameters calibrated by MATLAB were imported by ourselvesCopy the code

4. Nvidia TX2 environment configuration

I will not talk about changing the source. Ros installation was always a metaphysical issue until I knew that I could place the files to be mapped locally and then rosdep update the link to the local. But while I was feeling smug, my strong seniors had an easier way (I cried)

5. Detections with AprilTag (rostopic echo /tag_detections)

I won’t say much more about this, but the data type in the topic is starting to make me feel bad (geometry_MSgs /PoseArray), and when I write my subscription function I have to set the type, and finally I have to fully semi-block before I can use the position I want to use in my inverse kinematics code.

6. Ros in moveit. Use of library (import urDF model of mechanical arm), design of mobile group (use Python) and communication between each link (make communication protocol and cooperate with terminal)

This is a simulation with the communication problem solvedThe manipulator used (the manipulator terminal protocol is HXD tuned)

conclusion

Let me show you some pictures of the road before the race

Compared with my superior seniors, it’s still too good.

I hope I can gradually catch up with the pace of elder brother in school in the future and continue to work hard!!