Indoor SLAM and Visual Odometry Development
Budget: ₹150,000 – ₹250,000 INR
Scope of Work:
The Developer agrees to provide services for the development of a SLAM-based localization and mapping application using Visual-Simultaneous Localization and Mapping (SLAM) and Visual Odometry (VO) techniques. The application aims to achieve sub-meter accuracy localization using 360-degree video input from the Insta360 One X2 camera, without use of Lidar and GPS
Project Phases and Milestones:
1. Milestone 1: Initial Setup and Camera Calibration (1st Week)
-Perform camera calibration to obtain accurate intrinsic parameters (focal length, optical center, distortion coefficients).
-Set up the development environment, integrating 360-degree video input from the Insta360 One X2 camera.
-Obtain IMU sensor data and ensure integration for enhanced accuracy.
-Deliverable: A report on camera calibration and initial environment setup.
2. Milestone 2: Data Processing and Trajectory Mapping (2nd Week)
-Preprocess SLAM-generated keyframe/frame trajectory data and convert it into NumPy vectors for efficient processing.
-Implement trajectory mapping onto floor plans using OpenCV and apply necessary transformations to align trajectory data with floorplan coordinates.
-Apply AI/ML-based optimization techniques to minimize discrepancies between trajectory data and the floorplan.
-Deliverable: A functional module for trajectory mapping and optimization on provided floorplans.
3. Milestone 3: Field of View (FoV) Calculation, Final Optimization, and Post-Development Support (3rd Week)
-Calculate and visualize the Field of View (FoV) using SLAM data, IMU data, and camera parameters.
-Ensure dynamic updates of the FoV visualization based on real-time changes in the camera's position and orientation.
-Perform testing, validation, and final optimization to achieve sub-meter localization accuracy and a minimum of 15 FPS processing for 4K video data or variable
-Provide support for bug fixing and error resolution for two months following the project completion.
-Deliverable: A complete Python script/tool with documentation, including a test report demonstrating the achieved performance metrics and post-development support for two months.
Responsibilities:
-The Developer shall take the lead on all aspects of development, including implementation, testing, optimization, and debugging.
-The Client will assign three engineers:
-Two Engineers to assist in the development as needed.
-One Engineer to provide necessary data for the project.
-The Developer is responsible for managing the assigned engineers, ensuring timely progress, and maintaining the overall quality and functionality of the application.
Post-Development Support:
-The Developer agrees to provide support for resolving any bugs or errors for a period of two months after the final deliverable is submitted.
-The final payment will only be released upon successful completion of this support period.
Confidentiality:
The Developer agrees to maintain confidentiality regarding any proprietary or sensitive information shared by the Client during the project's duration.
The Developer agrees to provide services for the development of a SLAM-based localization and mapping application using Visual-Simultaneous Localization and Mapping (SLAM) and Visual Odometry (VO) techniques. The application aims to achieve sub-meter accuracy localization using 360-degree video input from the Insta360 One X2 camera, without use of Lidar and GPS
Project Phases and Milestones:
1. Milestone 1: Initial Setup and Camera Calibration (1st Week)
-Perform camera calibration to obtain accurate intrinsic parameters (focal length, optical center, distortion coefficients).
-Set up the development environment, integrating 360-degree video input from the Insta360 One X2 camera.
-Obtain IMU sensor data and ensure integration for enhanced accuracy.
-Deliverable: A report on camera calibration and initial environment setup.
2. Milestone 2: Data Processing and Trajectory Mapping (2nd Week)
-Preprocess SLAM-generated keyframe/frame trajectory data and convert it into NumPy vectors for efficient processing.
-Implement trajectory mapping onto floor plans using OpenCV and apply necessary transformations to align trajectory data with floorplan coordinates.
-Apply AI/ML-based optimization techniques to minimize discrepancies between trajectory data and the floorplan.
-Deliverable: A functional module for trajectory mapping and optimization on provided floorplans.
3. Milestone 3: Field of View (FoV) Calculation, Final Optimization, and Post-Development Support (3rd Week)
-Calculate and visualize the Field of View (FoV) using SLAM data, IMU data, and camera parameters.
-Ensure dynamic updates of the FoV visualization based on real-time changes in the camera's position and orientation.
-Perform testing, validation, and final optimization to achieve sub-meter localization accuracy and a minimum of 15 FPS processing for 4K video data or variable
-Provide support for bug fixing and error resolution for two months following the project completion.
-Deliverable: A complete Python script/tool with documentation, including a test report demonstrating the achieved performance metrics and post-development support for two months.
Responsibilities:
-The Developer shall take the lead on all aspects of development, including implementation, testing, optimization, and debugging.
-The Client will assign three engineers:
-Two Engineers to assist in the development as needed.
-One Engineer to provide necessary data for the project.
-The Developer is responsible for managing the assigned engineers, ensuring timely progress, and maintaining the overall quality and functionality of the application.
Post-Development Support:
-The Developer agrees to provide support for resolving any bugs or errors for a period of two months after the final deliverable is submitted.
-The final payment will only be released upon successful completion of this support period.
Confidentiality:
The Developer agrees to maintain confidentiality regarding any proprietary or sensitive information shared by the Client during the project's duration.