watonomous.github.io
[ Knowledge Base : WATO Lingo ]
Created by [ Rowan Dempster], last modified by [ Rowan Dempster] on Feb 03, 2020
General Terminology
The Bay: The Bay is WATO’s primary work space.
Location: It is located in the Sedra Design Center (SDC), on the first
floor of E5. Room number
[E5-1006. ]You’ll know
which bay is ours because of the Chevy Bolt with cameras and lidars on
it.
Access: The Bay is accessed using a passcode. The code is posted in
#group-leads. Please ask your lead for the code if you need it.
Usage: The design of the bay is most constructive for mechanical and electrical work. IMO The Garage (see below) is more comfy for programming and business discussions.
The Garage: The Garage is WATO’s secondary work space. It is not a garage, it is a meeting room.
Location: E7-5344
Access: The Garage is accessed using one of the garage fobs. The fobs are kept in the Admin Cabinet in The Bay. Please message in #group-leads if you need access.
Usage: Usage and fobs are documented in #garage-use. Please send a quick message if you take/return a fob from the cabinet. Other than that, the walls are whiteboards which is nice. The room can fit ~10 people. There is a TV with an HDMI cord and lots of outlets. The garage is often used for software work sessions and meetings.
Phab (Deprecated): Phab is short for Phabricator. It is located here: https://phabricator.watonomous.ca/
Phab Doc (Deprecated): Phab Doc is short for Phabricator Documentation, kept on the Phab wiki here: https://phabricator.watonomous.ca/w/
FYDP: FYDP is an acronym for Fourth Year Design Project. It is a capstone project engineers at Waterloo do during their fourth year, see more information here: https://uwaterloo.ca/capstone-design/. It is common for engineers to choose to help WATonomous as their FYDP project, which we really appreciate! We can help them add structure/resources to their project, and they help us build a self driving car. You can identity FYDP members because they are tagged with the Purple FYDP tag on Discord.
Bolty: Bolty is the nickname that we have given to our vehicle (a Chevrolet Bolt), which GM was nice enough to give us!
High-level Technical Terms
HD Maps:
HERE Maps:
Rugged: The computer in the back of the car. It's very powerful.
LiDAR: Light Detection And Ranging. These sensors shoot out lasers and read them back in to get a point cloud of the environment. There's currently (Jan 2020) one LiDAR on top of the car, and plans to add one to the front.
Point Cloud: Data in the form of many points that each have x y z coordinates.
Frustum: a 3D object that describes a projected region.
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Clustering: Dividing data points into groups. We cluster point cloud data we get from the LiDAR to get point clouds for different objects in the environment.
A* (A star) algorithm:
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Document generated by Confluence on Nov 19, 2021 12:20