Source Code

This page is a place for other ERC members to download source code related to our work.

This is the most important software package, including key algorithms of COSBOS:

(1) Light Transport Model (LTM) recovery, both overdetermined and underdetermined.

(2) 3D scene estimation with light blockage model and wall-mounted sensors.

(3) Floor-plane occupancy mapping with light reflection model and ceiling-mounted sensors.

The code can be downloaded here:

or here:

A package showing how to use the RPi sensors in the Smart Space Testbed (SST).

Two methods: asynchronous call (fast) and loop call (slow).

The RobotRaconteur software that we have been using.

The SD card image of the RPi sensor. Please use an SD card at least 8GB, and dd this image to the SD card on a Linux machine.

Default integration time: 2.4ms

Documentation: please click the documentation tab, and download TCS34725 Driver Documentation.pdf

Username and password: please contact Xinchi Zhang or Quan Wang

This file can be downloaded at:

The STL files for 3D printing the ABS bushing+collar+stabilizer.

The Illumination Feedback Control demo in the SST.