Person Following On STAIR: Fall Report for CS221 & CS229

In this report I present the results of my work this fall, with the tremendous help and support of Olga Russakovsky, on the STAIR Person Following project. There are, roughly speaking, three components of this project: the vision system; the navigation system; and the recovery system. I describe first the use of the Phasespace Motion Capture System to accomplish the vision task and a simple model of the cameras that allows for quick recalibration. Second, I present the bulk of the work from this quarter: updating the navigation system on STAIR to both integrate with Phasespace and support the all-new ROS navigation stack, and the difficulties concomitant with this task. Finally, I describe early work on the recovery system and present a simple framework in which to apply learning to improve recovery performance.