• 设为首页
  • 点击收藏
  • 手机版
    手机扫一扫访问
    迪恩网络手机版
  • 关注官方公众号
    微信扫一扫关注
    迪恩网络公众号

aslyansky-m/FSTD_SLAM: Simultaneous Localization and Mapping algorithms for Form ...

原作者: [db:作者] 来自: 网络 收藏 邀请

开源软件名称(OpenSource Name):

aslyansky-m/FSTD_SLAM

开源软件地址(OpenSource Url):

https://github.com/aslyansky-m/FSTD_SLAM

开源编程语言(OpenSource Language):

C++ 50.1%

开源软件介绍(OpenSource Introduction):

Simultaneous Localization and Mapping algorithms for Formula Student Driverless @Technion

TODO:

  • add detailed description

Oops

See demos

See wiki

Table of Contents

Installation

See wiki/Installation

Roadmap

Currently working on bold

Visual Cone Detection

  • annotate real data
  • train YOLOv3-tiny
  • architecture search, see yolo_cone_detection.md
  • rewrite with TensorRT
  • test inference performance on Xavier
  • setup AirSim - next project
    • add cone position information
    • dataset generation pipeline
    • augmentation
      • weather - built in
      • noise
      • low light
    • generate dataset
  • improvements:
    • add sub-pixel refinement
  • add tracking
    • implement KLT - works OK
    • test opencv multitracker - poor
    • implement ORB cone descriptor - need to test
    • test Tracking-with-darkflow

Visual SLAM Exploration

  • test orbslam 2
    • discarded as not robust enough
  • test orbslam_dwo
    • discarded since no RT branch available, also slower than original orbslam
  • test rovio
    • works OK on servo data
  • test servo on provided data
    • bugfixes - doesn't compile
    • compile
    • test ROS node on provided data - works fine
  • conclusion: continue working with servo
  • need to check:

Visual SLAM System

  • integrate servo with the main system
  • calibrate our cameras and IMU
  • test on our data
  • performance optimization
  • publish points and poses to ROS
  • test cone detection
  • implement cone detector and descriptor
  • implement data fusion in orbslam
  • test on the car

LIDAR Setup

  • install ROS velodyne drivers
  • test and store data
  • control LIDAR speed from ROS, see here
  • filter LIDAR by FOV and distance, search for ring information, see here
  • LIDAR-camera calibration
  • fusion with camera

LIDAR Cone Detection

  • test the data
  • add node to ROS
  • ground removal
  • cone segmentation and clustering
  • cone tracking
    • probably redundant
  • additional filtering
  • color from intensity
  • color from camera
  • improvements

LIDAR SLAM Exploration

LIDAR Landmark Based SLAM

  • explore directions
    • Kalman Filter vs Graph Optimization
    • g2o vs gtsam

System

  • define ROS node topology
  • add documentation

Simulator

  • eufs_sim - gazebo simulator
    • compiled
    • bugfix - no car
  • AirSim - Microsoft's framework
    • test on linux
    • add lidar, see here
    • add IMU, see here
    • integrate with ROS, see here
  • fssim - a new one

Hardware

  • camera - ZED
  • LIDAR - Velodyne VLP-16
  • Nvidia Jetson setup
  • capture with rosbag
  • install and run on the car
  • capture demo content
  • capture real content
  • Nvidia Drive PX2 setup
  • after meeting with Nvidia decided to use Jetson AGX Xavier
  • improve capture
  • automate capture - launch files
  • capture new content
  • Nvidia Jetson Xavier setup
  • install and run on the car
  • TODO: update regarding the electric car
    • sensors
    • control

Model Predictive Control

  • explore different options:
    • MPCC Model Predictive Contouring Controller for Autonomous Racing
    • MPPI Model Predictive Path Integral Controller
  • start working on simulator



鲜花

握手

雷人

路过

鸡蛋
该文章已有0人参与评论

请发表评论

全部评论

专题导读
热门推荐
阅读排行榜

扫描微信二维码

查看手机版网站

随时了解更新最新资讯

139-2527-9053

在线客服(服务时间 9:00~18:00)

在线QQ客服
地址:深圳市南山区西丽大学城创智工业园
电邮:jeky_zhao#qq.com
移动电话:139-2527-9053

Powered by 互联科技 X3.4© 2001-2213 极客世界.|Sitemap