The Mom Test – Summary and Insights
Below are some of my key takeaways from reading the book, “The Mom Test” by Rob Fitzpatrick. If you are interested in more detailed notes from this book, they are available here.
Author: wilselby
The Innovator’s Solution – Summary and Insights
Below are some of my key takeaways from reading the book, “The Innovator’s Solution” by Clayton Christensen and Michael Raynor. If you are interested in more detailed notes from this book, they are available here.
Using Cruise’s Webviz Tool to Visualize Autonomous RC Car System Data
In June of 2019, Cruise announced their data visualization web application, Webviz, in a blog post entitled, “Webviz: An Open Source Platform for Robotics Data Visualization.” This follows previous announcements to open source Worldview, a library to translate the data-rich worlds our cars navigate into clear and intuitive 3D scenes, and rosbag.js, a JavaScript library […]
RC Car ML Model Development with an Ouster OS1 Lidar
The purpose of this project was to develop a Machine Learning model to enable an RC car to autonomously navigate a race track using an Ouster OS1 lidar sensor as the primary sensor input. The model is an end-to-end Convolutional Neural Network (CNN) that processes intensity image data from the lidar and outputs a steering […]
The Lessons of History – Summary, Insights, and Discussion Guide
The questions below are meant to be used in a guided discussion on the book, “The Lessons of History” by Will & Ariel Durant. If you are interested in more detailed notes from this book, they are available here.
Sapiens – Summary, Insights, and Discussion Guide
The questions below are meant to be used in a guided discussion on the book, “Sapiens: A Brief History of Humankind” by Yuval Noah Harari. If you are interested in more detailed notes from this book, they are available here.
RC Car ML Model Development with Google Colab
Previously, the process for training and deploying an ML model to autonomously operate an RC car was described in the post, “RC Car End-to-end ML Model Development.” The purpose of the project was to develop an ML model that predicted steering angles given a color camera image input to enable the RC car to follow a […]
RC Car End-to-end ML Model Development
This post describes the process of developing a end-to-end Machine Learning model to steer an RC Car around using a color camera as an input. This is inspired by the Udacity Self Driving Car “behavior cloning” module as well as the DIY Robocars races. The purpose of this project is to create a pipeline for […]
Odometry Estimation with an Ouster OS-1 lidar Sensor
This post describes the process of fusing the IMU and range data from an OS-1 lidar sensor in order to estimate the odometry of a moving vehicle. The position, orientation, and velocity estimates are critical to enabling high levels of automated behavior such as path planning and obstacle avoidance. One of the most fundamental methods […]
Ouster OS-1 lidar and Google Cartographer Integration
This post describes the process of integrating Ouster OS-1 lidar data with Google Cartographer to generate 2D and 3D maps of an environment. Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations. SLAM algorithms combine data from various sensors (e.g. LIDAR, IMU, […]