Naomi is a project that helps autonomous vehicles to drive in regions without good GPS localization. It relies on open street maps in order to establish correspondences with the real world.
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Table of Contents
Naomi takes in raw camera images along with LiDAR inputs and converts it into a pipeline of lanes, these lanes are used by a particle filter on the OSM Map in order to navigate autonomously in urban environments.
This is an example of how you may give instructions on setting up your project locally. To get a local copy up and running follow these simple example steps.
The following systems need to be set up and running:
- LIOSAM
- lane-detector-ros
- quick mcl
- docker
- Clone the package and build it
- Run the docker for pulling and caching the images, use the yaml file located under the config folder
docker run -p 8080:8080 -d -t -v ~/mapproxy:/mapproxy danielsnider/mapproxy
Robot Setup
Watch some of the demos of the vehicle here
System architecture
Original location of the testing
Without the particle Filter
pf_wo.mp4
With the particle filter implemented
pf_wt.mp4
Further documentation is provided here
Contributions are what make the open source community such an amazing place to learn, inspire, and create. Any contributions you make are greatly appreciated.
If you have a suggestion that would make this better, please fork the repo and create a pull request. You can also simply open an issue with the tag "enhancement". Don't forget to give the project a star! Thanks again!
- Fork the Project
- Create your Feature Branch (
git checkout -b feature/AmazingFeature) - Commit your Changes (
git commit -m 'Add some AmazingFeature') - Push to the Branch (
git push origin feature/AmazingFeature) - Open a Pull Request
Distributed under the GNU General Public License v3.0 See LICENSE.txt for more information.
Naman Menezes - NamanMenezes17 - email@email_client.com
Project Link: https://github.com/Mnzs1701/naomi
- AIRL Lab IISc