The goal of this project is to implement a vision based navigation solution for a mobile platform navigation inside a greenhouse to transition from a concrete path to parallel heating pipes, which also function as rails for the platform.
This solution uses is based on point-cloud registration.
Created in ROS Melodic (Ubuntu 18.04 LTS) using an Intel Realsense D435i RGBD camera, coded in Python.
main scripts located in:
vision-based-alignment/nav_mobile/scripts/Final/