We migrated the SafeVision software system from Python to C++ for performance reasons. In addition to porting over existing functionality, we also added unit tests to make sure functions operate correctly and more UI options to have better control of the system.

Our program now consistently runs at 60 frames per second which is a huge improvement over the 20-40 frames per second of our Python version. This means we have a larger computational budget to support more sensors.

We developed an Android app to show further applications of our solution. This app communicates with a server on the Windows in order to receive information about the environment as well as control the robot remotely.

Because we can not test the arm in person, we settled for virtual tests. We fill the scene with obstacles and make sure the arm correctly detects obstacles and stops before colliding.