This repository contains my research project on autonomous driving for small RC-vehicles.
Yolov3 is used to detect the cups which represent the waypoints.
The detected cups (in the picture) are projected onto a two dimensional plane to obtains the world coordinates.
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
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OpenCV with PyQT:
http://kurokesu.com/main/2016/08/01/opencv-usb-camera-widget-in-pyqt/
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Hobby Algorithm:
[1] Hobby, J.D. Smooth, easy to compute interpolating splines. Discrete Comput Geom 1, 123–140 (1986). https://doi.org/10.1007/BF02187690