User contributions for Mr. MacKenty

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  • 13:3213:32, 30 May 2023 diff hist +1,728 N TrackingCreated page with "In the context of robotics and particularly in systems like Simultaneous Localization and Mapping (SLAM) or Visual SLAM (vSLAM), "tracking" typically refers to the process of continuously estimating the robot's motion and position over time based on its sensor data. Here's how tracking might work in a vSLAM system: # The robot captures a sequence of images with its camera as it moves through the environment. # For each new image, the robot identifies features (distinct..." current
  • 13:3113:31, 30 May 2023 diff hist +16 RoboticsNo edit summary current
  • 13:1213:12, 30 May 2023 diff hist +1,894 N Loop closureCreated page with "Loop closure is an important concept in the field of robotics, particularly in relation to the Simultaneous Localization and Mapping (SLAM) problem. As a robot moves through an environment, it builds a map of the environment and uses that map to estimate its location within it. However, as the robot moves, small errors in its motion estimates can accumulate over time, leading to drift in the estimated trajectory and the map. The idea of loop closure is to correct thi..." current
  • 13:1113:11, 30 May 2023 diff hist +1,693 N Local mappingCreated page with "Local mapping is a concept in robotics, particularly in relation to Simultaneous Localization and Mapping (SLAM) and Visual SLAM (vSLAM), where the robot builds a smaller, more immediate map of its surroundings, often referred to as a local map. The idea is to focus computational resources on understanding the robot's immediate surroundings in detail, rather than attempting to map the entire environment at once. This local map is continuously updated as the robot moves..." current
  • 13:0913:09, 30 May 2023 diff hist +1,883 N InitializationCreated page with "In the context of robotics and especially in algorithms like Simultaneous Localization and Mapping (SLAM) or Visual SLAM (vSLAM), "Initialization" refers to the process of setting up the initial conditions or starting point for the algorithm. At the start of SLAM or vSLAM, the robot doesn't know anything about its environment or its position within that environment. However, to begin the process of mapping and localization, it needs some kind of initial guess or estimat..." current
  • 13:0613:06, 30 May 2023 diff hist +482 N Visual simultaneous localization and mapping (vSLAM) modulesCreated page with "Visual Simultaneous Localization and Mapping, or vSLAM, is a variant of the general SLAM problem where the primary sensor data comes from a camera or multiple cameras. This technique uses visual information to create a map of the environment while also keeping track of the robot's location within the map. The "modules" in a vSLAM system might refer to the individual components or stages of the vSLAM process. The exact modules can vary depending on the specific vSLAM alg..." current
  • 13:0513:05, 30 May 2023 diff hist +2,157 N Sensor fusion modelCreated page with "Sensor fusion is a method used in robotics and automation that involves merging data from different sensors to improve the understanding of the environment. This process can reduce uncertainty, improve accuracy, and make the system more robust to failures of individual sensors. A sensor fusion model, then, is a mathematical and computational model that describes how to combine the data from different sensors. Here's an example to illustrate the concept: Imagine you ha..." current
  • 13:0313:03, 30 May 2023 diff hist +1,723 N Simultaneous localization and mapping (SLAM)Created page with "Simultaneous Localization and Mapping, or SLAM, is a computational problem in the field of robotics. As the name implies, it's about doing two things at the same time: # '''Localization''': Determining where a robot is located in an environment. # '''Mapping''': Building a map of that environment. What makes SLAM challenging is that it's a chicken-and-egg problem: to know where you are (localization), you need a map, but to create a map, you need to know where you are...." current
  • 12:5912:59, 30 May 2023 diff hist +1,972 N Robot driftCreated page with ""Robot drift" is a term often used in the context of robotics and refers to the accumulated error in a robot's estimated position and orientation over time. This error, or "drift", can occur when a robot is using sensors like wheel encoders or Inertial Measurement Units (IMUs) to estimate its motion. Both these methods involve integrating sensor measurements over time to calculate position, but small errors in these measurements can accumulate, leading to larger and lar..." current
  • 12:5812:58, 30 May 2023 diff hist +1,900 N Rigid pose estimation (RPE)Created page with "Rigid Pose Estimation (RPE) is a concept in computer vision and robotics that involves determining the position and orientation (the "pose") of an object that does not deform or change shape — in other words, a "rigid" object. The term 'rigid' indicates that the distance between any two points on the object remains constant over time, regardless of the object's movement or orientation. In the context of robotics, pose estimation often refers to estimating the pose of..." current
  • 12:5612:56, 30 May 2023 diff hist +1,386 N RelocalizationCreated page with "Relocalization is a critical concept in robotics, specifically in the context of autonomous navigation and Simultaneous Localization and Mapping (SLAM). It refers to the ability of a robot to determine its current location in a map that it previously built or in a known environment, particularly after it has lost track of its position due to an error, disturbance, or after it has been manually moved (also known as the "kidnapped robot" problem). There are many reasons w..." current
  • 12:5412:54, 30 May 2023 diff hist +1,923 N Odometry sensorCreated page with "An odometry sensor is a device used to estimate the change in position over time of a vehicle, like a car or a robot, based on data from its own sensors. The term "odometry" comes from the combination of "hodos", meaning path or way in Greek, and "metron", meaning measure. Therefore, it's all about measuring the path a vehicle takes. There are several types of odometry sensors, and they work in different ways: # '''Wheel Encoders''': In many robots, especially wheeled..." current
  • 12:5312:53, 30 May 2023 diff hist +1,331 N Object occlusionCreated page with "Object occlusion in the context of computer vision refers to the event where a part or all of an object in the scene is hidden from view by some other object in the scene. In simple words, when an object is in front of another object, blocking it from view, we say that the second object is occluded. For example, imagine you are looking at a photograph of a crowd of people. Some of those people may be standing in front of others, preventing you from seeing the people beh..." current
  • 12:5112:51, 30 May 2023 diff hist +1,606 N Light detection and ranging (LIDAR)Created page with "Light Detection and Ranging, more commonly known as LiDAR, is a method of remote sensing that uses light in the form of a pulsed laser to measure distances to an object. These light pulses, combined with other data recorded by the airborne system, generate precise, three-dimensional information about the shape of the Earth and its surface characteristics. Here's a simplified explanation of how it works: # A LiDAR system sends out a pulse of light, usually in the form o..." current
  • 12:5012:50, 30 May 2023 diff hist +1,581 N Key points/pairsCreated page with "Key points, also known as feature points or interest points, are distinct and unique points in an image that are easy to find and accurately describe. These points are usually selected because they represent corners, edges, or other interesting aspects of the image, and they are used in many computer vision tasks for things like object recognition, image alignment, and 3D reconstruction. When multiple images are used (for example, in a video or a sequence of frames take..." current
  • 12:4812:48, 30 May 2023 diff hist +1,803 N Keyframe selectionCreated page with "Keyframe selection is a term commonly used in the field of computer vision, especially in video processing and robotics. A keyframe is a frame in a sequence of frames (like a video or a series of images) that contains important or critical data. In video compression, for example, keyframes (also known as I-frames) are the frames from which subsequent frames are based. These keyframes serve as reference points and the frames in between are often compressed by storing onl..." current
  • 12:4612:46, 30 May 2023 diff hist +1,710 N Inertial measurement unit (IMU)Created page with "An Inertial Measurement Unit, or IMU, is a device that measures and reports on a vehicle's velocity, orientation, and gravitational forces, using a combination of accelerometers, gyroscopes, and sometimes magnetometers. IMUs are typically used to aid in navigation and tracking systems, particularly when GPS data is unavailable or unreliable. Let's break down the components of an IMU: # '''Accelerometers:''' These measure linear acceleration. However, they can't disting..." current
  • 12:4512:45, 30 May 2023 diff hist +1,832 N Human pose estimation (HPE)Created page with "Human pose estimation (HPE) is a computer vision task that involves determining the position and orientation of the human body, along with the positions of various body parts such as the head, arms, legs, and so on, usually in real-time. Here's a simplified way to think about it: Imagine you're looking at a photo of a person. You can probably tell what position they're in — maybe they're standing up straight, sitting down, or running. Now imagine trying to teach a com..." current
  • 12:4412:44, 30 May 2023 diff hist +1,579 N GPS-denied environmentCreated page with "A GPS-denied environment is a location or situation where the Global Positioning System (GPS) signals are not available at all. This can occur for a number of reasons: # Indoor Locations: Buildings often block GPS signals, making them unavailable inside. # Underground or Underwater: Similarly, GPS signals can't penetrate underground or underwater. # Jamming or Spoofing: GPS signals can be intentionally disrupted or blocked using devices known as GPS jammers. Additionall..." current
  • 12:4212:42, 30 May 2023 diff hist +12 GPS-degraded environmentNo edit summary current
  • 12:4112:41, 30 May 2023 diff hist −5 GPS-degraded environmentNo edit summary
  • 12:4112:41, 30 May 2023 diff hist −6 GPS-degraded environmentNo edit summary
  • 12:4112:41, 30 May 2023 diff hist +1,760 N GPS-degraded environmentCreated page with "A GPS-degraded environment refers to any situation or location where the Global Positioning System (GPS) signals are unreliable, weak, or completely unavailable. This could be due to several reasons: 1. **Urban Areas**: In cities with high buildings, GPS signals can become degraded due to the "urban canyon" effect. The tall buildings can block direct signals from the satellites or cause multipath errors, where the signals bounce off multiple buildings before reaching th..."
  • 12:3912:39, 30 May 2023 diff hist +1,612 N Global positioning system (GPS) signalCreated page with "The Global Positioning System (GPS) is a satellite-based navigation system that provides location and time information in all weather conditions, anywhere on or near the Earth where there is an unobstructed line of sight to four or more GPS satellites. Here's a simplified explanation of how it works: # The GPS system consists of a network of around 30 satellites orbiting the Earth, controlled by a series of ground stations. These satellites are always transmitting sign..." current
  • 12:3812:38, 30 May 2023 diff hist +1,684 N Global map optimizationCreated page with "Global map optimization is an important concept in robotics, particularly in the field of simultaneous localization and mapping (SLAM). In essence, it's the process of improving the accuracy and consistency of a map that a robot has created of its environment. Here's how it works: as a robot moves through its environment, it's continually taking sensor measurements and using those to build up a map of the world around it. At the same time, it's using that map to estimat..." current
  • 12:3712:37, 30 May 2023 diff hist +30 Edge computingNo edit summary current
  • 12:3612:36, 30 May 2023 diff hist +2,070 N Edge computingCreated page with "Edge computing is a distributed computing paradigm that brings computation and data storage closer to the sources of data. This is done to improve response times and save bandwidth. The "edge" refers to the edge of a network, closer to the devices that produce or consume data, as opposed to a centralized data center or cloud. Here are the key steps involved in setting up an edge computing environment: # Identify the Need: The first step is to understand why you need ed..."
  • 12:3412:34, 30 May 2023 diff hist +1,661 N Dead reckoning dataCreated page with "Dead reckoning is a process used in navigation to determine one's current position based on a previously known position, or fix, and advancing that position based upon known or estimated speeds over a period of time, and the direction in which the person or vehicle is known or estimated to have moved. The name "dead reckoning" comes from "deduced reckoning," sometimes abbreviated as 'ded' reckoning, which has been further abbreviated to "dead" reckoning. In the context..." current
  • 12:3312:33, 30 May 2023 diff hist −4 Computer visionNo edit summary current
  • 12:3312:33, 30 May 2023 diff hist +1,468 N Computer visionCreated page with "Computer vision is a subfield of artificial intelligence and computer science that focuses on enabling computers to understand and interpret the visual world. Essentially, it's about teaching computers to "see" and understand digital images or videos. The way computer vision does this is by taking images or videos, processing them, and then extracting useful information from them. This can involve many different tasks, such as: # Image Recognition: This is one of the m..."
  • 12:3112:31, 30 May 2023 diff hist +1,679 N Bundle adjustmentCreated page with "Bundle adjustment is an optimization technique used in computer vision and photogrammetry, which are two fields that are fundamental for the functioning of rescue robots. You can think of rescue robots as needing to understand the world around them, just like you and me. When these robots look at a scene through their sensors, which typically include cameras, they need to determine the 3D positions of objects in the scene, as well as the position and orientation of the..." current
  • 12:2712:27, 30 May 2023 diff hist +14 RoboticsNo edit summary
  • 12:2712:27, 30 May 2023 diff hist +863 N RoboticsCreated page with "right|frame|Case study notes<ref>http://www.flaticon.com/</ref> * [[Bundle adjustment * [[Computer vision * [[Dead reckoning data * [[Edge computing * [[Global map optimization * [[Global positioning system (GPS) signal * [[GPS-degraded environment * GPS-denied environment * Human pose estimation (HPE) * Inertial measurement unit (IMU) * Keyframe selection * Key points/pairs * Light detection and ranging (LIDAR) * Object o..."
  • 12:2512:25, 30 May 2023 diff hist +15 Programming→‎Advanced Programming
  • 12:2412:24, 30 May 2023 diff hist 0 WelcomeNo edit summary current
  • 12:2412:24, 30 May 2023 diff hist +35 2024 case study→‎Previous years case studies
  • 12:2312:23, 30 May 2023 diff hist +22 2024 case study→‎Previous years case studies
  • 12:2212:22, 30 May 2023 diff hist −8 2024 case study→‎Every term in the case study
  • 12:2112:21, 30 May 2023 diff hist −407 2024 case study→‎Introduction
  • 12:2112:21, 30 May 2023 diff hist +4 2024 case study→‎The case study
  • 12:2012:20, 30 May 2023 diff hist −5 2023 case studyNo edit summary current Tag: Manual revert
  • 12:1912:19, 30 May 2023 diff hist +5 2023 case studyNo edit summary Tag: Reverted
  • 12:1912:19, 30 May 2023 diff hist 0 N File:D 4 comsc css 2305 1 e.pdfNo edit summary current
  • 12:1812:18, 30 May 2023 diff hist +1,670 N 2024 case studyCreated page with "right|frame|Case study<ref>http://www.flaticon.com/</ref> == Introduction == Higher-level students must write 3 papers. The case study is the third paper. Every year, the case study discusses a different topic. Students must become '''very very familiar''' with the case study. The IB recommends spending about a year studying this guide. This page will help you organize and understand the 2023 case study. Here are some external resources:..."

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  • 09:3509:35, 28 March 2023 diff hist +1,335 N Date and times with PythonCreated page with "<syntaxhighlight lang="python"> import datetime # to get the current date and time: print(datetime.datetime.now()) # to get the current date: print(datetime.date.today()) # to get the current time: print(datetime.datetime.now().time()) # to get the current year: print(datetime.datetime.now().year) # to get the day of the week: print(datetime.datetime.now().weekday()) # to print the day of the week: print(datetime.datetime.now().strftime("%A")) # to ask the user to..." current
  • 09:3409:34, 28 March 2023 diff hist +33 Python→‎Basic ideas current

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  • 13:5813:58, 3 February 2023 diff hist +1,168 N Stack memoryCreated page with "Stack memory is a region of computer memory used for storing da,ta that has a short lifespan such as function call frames, function parameters, and local variables. It operates on a Last-In-First-Out (LIFO) principle, where the most recently added data is the first to be removed. This makes stack memory ideal for storing temporary data and function calls, as the data is automatically cleaned up when the function returns. In a typical computer program, the stack is used..."
  • 13:5713:57, 3 February 2023 diff hist +18 Computer organization→‎Not part of IB curriculum but you should know this
  • 13:5713:57, 3 February 2023 diff hist +1,687 N Heap memoryCreated page with "Heap memory is a region of computer memory used for dynamic allocation of objects at runtime. It is a dynamic area of memory where blocks of memory are allocated and deallocated dynamically as needed, in contrast to the stack memory, where memory is allocated and deallocated in a last-in-first-out (LIFO) manner. Objects stored in the heap have a longer lifetime than objects stored in the stack, as heap-allocated objects persist until they are explicitly deallocated or un..." current
  • 13:5513:55, 3 February 2023 diff hist +80 Computer organizationNo edit summary

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  • 15:3715:37, 3 September 2021 diff hist +880 N How to use selection statementsCreated page with "The bank machine problem set is tricky: <syntaxhighlight lang="python"> # A cash machine dispenses £10 and £20 notes to a maximum of £250. # Write a program that shows t..." current

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