Fiducial Code

final.m - A script what processes all the images and runs the Kalman Filter localization
combinedEnergy.m - The energy function of a position of the robot. This is optimized using Least Squares
distance.m - Find the distance between two points in three dimensions.
m2i.m - Converts meters to inches
mask.m - Masks the omnicam images. Replaces the outsides and center circles with black. Leaves only the interesting part of the image
omniview2.m - Finds the fiducials in an image. Returns the Expectation as a function of the angle
update_state.m - Takes a current robot position estimate and an Expectation function (from omnivision2.m) and finds a corrected position of the robot
world2cata.m - Takes a robot position and a "map" of the fiducials are returns the x,y position the robot should observe the fiducial in the image.
map - A "map" of the fiducials in the environment. These are the measured positions in the halls
odometrydiff - The odometry recorded by the robot during the run

PCA Code

create_map - finds the eigenimages from a set of sample images and performs projection of the samples to get a map
omnicrop - unstretches and crops the images from the omnicam to get a rotatable format
pc_evectors - code from Matthew Dailey's webpage from , implements trick from Turk and Pentland to get eigenvectors of big matrices
sortem - code by Matthew Dailey, used by pc_evectors.m

Last modified: Fri Dec 7 09:54:19 EST 2001