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To do step for Master thesis - Coggle Diagram
To do step for Master thesis
Documentation
Write Individual Plan
Write Theory
Write complete report
Maintain github code?
Technical things
Data acquisition
IMU acquisition [done]
Video data acquisition
Build the algorithm
Platform
MATLAB
convert matlab into Ccode
Directly generate HDL
Pytorch?
EKF
Video processing
TIghtly coupled Inertial-visual
LSTM for sequential input
Convert the algorithm into FPGA implementation
Manual code VHDL?
HLS
Need C code
Manage the parameter mapping into memory
Directly got from MATLAB
Train the algorithm
EuRoC MAV dataset
Target?
Testing in FPGA
With trained data
Mapping trained data into FPGA
With the real data
Location
Data reference?
Manual reference with limited point
with reference device such Vicon if available
Preparing the demo
Communication from hardware to PC
USB serial [done]
TCP
Visualization
3D matlab visualization
Python visualization
System
Input
IMU
Accelerometer (m/s2) 3axis
Gyroscope (dps) 3axis
Video
Output
3D coordinate
Pose
Quarternion
Euler pose
Processing