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

Some next step

Link collection

• OpenCV with PyQT:

  http://kurokesu.com/main/2016/08/01/opencv-usb-camera-widget-in-pyqt/

• Hobby Algorithm:

  https://www.youtube.com/watch?v=DrjdI3x3PYQ

References

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