Sidewalk planner

Main road segmentation in street environment for mobile robots.

The main goal of this approach is labeling every pixel on input image which corresponds to a drivable area. For more information have a look at the sidewalk segmentation.

Sidewalk local planner implementation which produces linear and angular velocity commands based on monocular image input.

References

1. Small Obstacle Avoidance Based on RGB-D Semantic Segmentation
2. Real-time monocular image-based path detection
3. Visual Topological Mapping

Building routes on walkable and drivable areas with the help of OSMNX library example.