EuRoC Forum

[paolost]

Dear Organizers,

I have a question regarding the evaluation process in task 3 and 4.

There are many parameters regarding the UAV that must be estimated in order to obtain a correct execution of the task:
calibration of the pose sensor(s), bias and offset of the IMU, etc.

There are also some values which are depending on the environmental conditions:
time, strength and direction of the application of the constant wind and of the wind gust respectively in task 3.2 and 3.3, not mentioning waypoints in task 4.

Which of those values (if any) are you going to change for the final evaluation?

[markusachtelik]

Hi,

we're going to change the following for T3 / T4:
T3.2: wind magnitude remains, but direction will change
T3.3: wind magnitude remains, but direction and duration will change
T4: waypoints will change, their distances remain.
T4.2: areas where sensors work will change.

T3/T4 general: slight variation of model parameters as announced in the technical annex[1] to reflect some model uncertainty. The initial position as described in 3.5.1 in [1] will not change.

IMU biases are modeled as random walk, and thus will change during flight.

As discussed in [2], the seed for the random number generator used for generating sensor noise will be initialized to a "random" value, but will be the same for all contestants.

[1] http://projects.laas.fr/euroc/euroc_qualif_c3/EuRoC_Call4Challengers_TechnicalAnnex_C3.pdf
[2] http://euroc.iphpbb3.com/forum/20112706nx57588/challenge-3-f5/initialization-of-random-number-generator-task-3-and-4-t33.html

[paolost]

Thanks for the clarification

I found there is a topic
/firefly/wind

That topic is not specified in the technical annexes.
Am I correct when I assume that this topic will not be available during the final evaluation?

thanks

[markusachtelik]

yes, that topic won't be available in the final evaluation. Only the topics that are documented (and are not excluded) will be available.