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Building an autonomous car using ROS, object detection, some crazy math, and a lot of wasted time and money.

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albatross

This repository contains my research project on autonomous driving for small RC-vehicles.

Object Detection (*done)

Yolov3 is used to detect the cups which represent the waypoints.

World Transform (*done)

The detected cups (in the picture) are projected onto a two dimensional plane to obtains the world coordinates.

Hobby Algorithm (*in progress)

The Hobby Algorithm [1] will be used to interpolate the single waypoints.

This video (german) provides a good starting point: https://www.youtube.com/watch?v=DrjdI3x3PYQ

Image of Yaktocat

Image of Yaktocat

Image of Yaktocat

Some next step

Link collection

References

[1] Hobby, J.D. Smooth, easy to compute interpolating splines. Discrete Comput Geom 1, 123–140 (1986). https://doi.org/10.1007/BF02187690

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Building an autonomous car using ROS, object detection, some crazy math, and a lot of wasted time and money.

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