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Item Number
Date InitiatedDate ResolvedParticipantsDescriptionOptions ConsideredResolutionJustification
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12026-01-052026-01-20Jerry, Prakhar
Discrepancy in odometry accuracy between PyPose and GTSAM after backend migration
Keep PyPose backend; Optimize PyPose; Port backend to C++ GTSAM and bind with pybind11Ported optimization backend to GTSAM with custom C++ factor and LM optimizerSacrificed slight accuracy for ~50% speed improvement and long-term scalability on embedded platform
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22026-01-152026-01-22Jerry, PrakharHigh CPU-GPU data transfer overhead in MACVO preprocessing pipelineKeep CPU preprocessing; Partial GPU acceleration; Full GPU preprocessing redesignRedesigned pipeline so rectification and 16→8-bit conversion run fully on GPUReduced memory copy overhead and improved real-time feasibility on AGX Orin
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32026-01-182026-01-25Jerry, PrakharDetermining required bandwidth for transmitting SLAM constraints to central server
Over-provision communication; Empirical test only; Analytical estimation of per-frame constraint size
Calculated per-frame keypoint size and required Mbps at 3.3Hz and 10HzEnsured communication subsystem meets current and future throughput without overdesign
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42026-01-222026-02-05JerryHigh bandwidth usage for mono8 video streaming over ROS2
Transmit raw mono8; Convert to RGB and compress; Use H.265 with NVIDIA hardware acceleration and single-channel workaround
Implemented H.265 (HEVC nvenc) compression with single-channel hackReduced bandwidth from ~9.7MBps to ~50KBps enabling practical wireless transmission
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52026-01-252026-02-24Prakhar, JerryDecision on IMU integration strategy in SLAM pipeline
Fuse IMU into frontend (VIO); Send IMU to backend for explicit factor graph integration; Hybrid approach
Fuse IMU in frontend (VIO), don't use this in the essential graphThis is the standard approach advised by Dan McGann. If IMU is fused in the essential graph, it may disagree to the loop closure
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62026-01-28PendingPrakharLoop closure strategy in feature-poor thermal environmentsUse NetVLAD; Use AnyLoc; Use ORB feature matching; Collect richer datasetImplemented ORB prototype and evaluating against ground truthORB is computationally feasible and simpler; learning-based approaches too heavy for current compute constraints
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72026-02-012026-02-10Jerry, Joy
OpenCV and dependency mismatch when porting Docker image from x86 to Jetson Orin ARM64
Modify environment variables; Build OpenCV from source; Align specific dependency versions in Dockerfile
Specified exact compatible library versions in DockerfileResolved build failures without excessive compilation overhead and ensured reproducibility
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82026-02-022026-02-12JerryRunning unified development environment across laptop and Jetson OrinSeparate environments; Manual setup per machine; Unified Docker with hardware profilesCreated Docker Compose profiles for x86 and JetsonEnsures reproducibility, portability, and simplified deployment workflow
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92026-02-042026-02-10Joy, JerryEstablishing reliable communication with FLIR Boson camera inside Docker
Run natively without Docker; Use partial container access; Full Dockerized driver with device mapping and udev rules
Configured device mapping (/dev/video*, /dev/ttyACM*) and persistent udev rulesEnsured stable deployment in containerized ROS2 workflow on Orin
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102026-02-05PendingPrakhar
Backend optimization strategy for factor graph (centralized vs distributed responsibilities)
Heavy frontend optimization; Heavy backend optimization; Balanced workload splitPending – architectural evaluation ongoingImpacts scalability for multi-payload collaborative SLAM
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112026-02-062026-02-13TinaPower budgeting and hardware interface allocation for payload v1.0
Ad-hoc wiring; Centralized interface map; Modular interface definition with documented power rails
Created detailed interface map with allocated GPIO/I2C/UART and validated current drawPrevents overload risk and supports future scalability and maintenance
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122026-02-062026-02-23TinaTradeoff between thermal management and structural integrity in payload design
Max airflow minimal structure; Reinforced structure minimal airflow; Hybrid passive+active cooling
Implemented honeycomb passive airflow + 12V active cooling fansBalances thermal dissipation with mechanical robustness for firefighter usage
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132026-02-072026-02-23TinaHigh-density cable routing inside compact handheld payloadLoose routing; Bundle routing; Structured routing with compartmentalization and strain reliefDesigned dedicated rear compartment and structured internal routingImproves serviceability and reduces electrical noise and failure risk
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142026-02-08PendingPrakharNeed for IMU bias calibration prior to SLAM operationIgnore bias; Manual zeroing; Dedicated pre-operation calibration routineAdded IMU bias calibration step in test planEstablishes consistent world/odom frame prior and improves backend stability
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152026-02-092026-02-13JerryNeed to validate NITROS zero-copy GPU transport on OrinStandard ROS transport; Partial GPU transport; Full PyNITROS zero-copy pipelineImplemented PyNITROS bridge and synchronized subscriber pipelineReduces CPU load and enables real-time stereo processing on embedded hardware
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162026-02-10PendingPrakharKeyframe selection strategy for fast firefighter motionFixed interval; Flow magnitude threshold; Hybrid with IMU uncertainty weightingHybrid strategy under evaluationNeeded to maintain tracking robustness under motion blur and feature scarcity
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172026-02-192026-02-25RobertRT6230 Buck Converter Current Limit reached at 6A for 12V and 5V rails.Multiple other DC-DC converters; Pre-built DC-DC modules;
Richtek RT7258 Step down converted selected as alternative with 8A limit. Pre-built too costly as we would need 4-6 of them.
Cost effective, added operational range for stability.
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182026-02-202026-02-23TinaRay wants to be able to get radar back if needed. Easier assembly disassembly.Have all mounting screws for sensor package accessible ( Sensor Package)Easy to test or change sensors
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192026-02-23PendingTinasome hole and assembly design is to complexdeduce and release the spaceupdate the design in the v1.1 payloadupgrade th eassemble sequence and tuen the simple wiring to PDB
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202026-02-26PendingJerry, JoyBoson USB 3.0 interface brokenPurchase new one and design protection board for itPendingNeed physical protection for IC on the interface board
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