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New Updates on My Robotics Work#
Today I implemented LoTIS within habitat-gs, a framework that enables a drone to retrace a path recorded with an ordinary handheld camera. Rather than imitating actions, LoTIS treats navigation as visual localization: it predicts where each point of the recorded path appears in the drone’s current view, whether it is visible, and how far away it lies, and a planner then steers the drone accordingly.
I also evaluated how sampling the trajectory at different intervals affects performance, and compiled all results into a single, readable report.
A particularly interesting finding concerned indoor failures. Routes ending on concrete objects succeeded consistently, while those ending on blank sky largely failed, which suggests that a featureless goal is a strong warning sign, though not the whole explanation.
With Day 1 now concluded and the groundwork for Day 3 in place, my next task is designing the controller myself. It has been a demanding but deeply rewarding day.