Sonar Object / Wall Detection

[maxwellmlin]

Upgrade our ability to check the location and normal angles of walls, buoys, and banners.

[nathanaelren]

Make sure to update sonar task-planning code as well.

[AnthonZh]

Completion Criteria

Timeline

• 11/8 denoising and pre-processing pool test
• 11/15 normal angle and pose pool test
  1 January 2026

[AnthonZh]

The program in sonar-processing should be ready for the pool test tomorrow. Our expectations is that we should be able to get much cleaner sonar images. In sonar-processing, whenever a sonar-scan is called, the processed image should be published to sonar/image/denoised. Would it be possible to test the following scans:

• The robot in front of a wall
• The robot at an angle to the wall
• The robot in front of a buoy, nothing behind the buoy
• The robot in front of a buoy, a wall behind the buoy

Please let me know if there are any issues. Thank you!
If this works, we will try to get normal angles and poses next time

[AnthonZh]

Thursday, 11/20 Updates

• We have ported over all of our methodologies over from our repository.
• We have tested on land and successfully gotten a no object detected, which we expect on land. All changes are pushed to GitHub.
• We need to test on the 11/22 pool test underwater & hopefully we can get cleaner images
• In the future (maybe over winter break), it would be nice to be able to change the code to allow the option for land testing

Intended timeline from now

1. Test and fix any sonar issues on the 11/22 pool test (last pool test, really hope it works)
2. Finish up sonar task planning
3. Document all the code!!

[AnthonZh]

End of 2025 Fall Updates

1. We fixed sonar! Poses and normal angles are being reported now
2. We just need a pool test to make sure that our poses reported are correct
3. Test task planning as well

Have a great break! See you next semester.

[AnthonZh]

Updates

• Sonar is ready to go
• Need to test sonar tasks in water (tested only on land)