Towards the Recognition and Mapping of Objects with Autonomous Mobile Robots

Object Detection and Simultaneous Localization and Mapping (SLAM) with ROS Kinetic on the Husarion Rosbot

To perform Object Detection we use the April Tag 3 Visual Fiducial Detection Algorithm.. To reproduce our configuration, see the config/settings.yaml and config/tags.yaml files.

For SLAM we use the OpenSlam Gmapping package.

FinalProject.py - contains our logic for autonomous line follow, in which the ROSbot relies on the input from the RGBD sensor to detect and follow a white line.

FinalProjectManual.py - contains our logic to manually steer the ROSbot using the Linux joystick.

Check out our report here!