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Vision System

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Trevor Decker edited this page Dec 22, 2015 · 9 revisions

Each vision will publish its vision devices frames which were captured. Each vision device should be publishing on a separate topic so that frames don't interfere with one another.

The pipeline for the vision system is as follows:

  • Get input image -> rectify image -> Transform to top view -> stitch together front/back view -> detect road features -> lookup location on map -> add absolute measurement to kf

  • Get input image -> rectify image -> Transform to front/back view -> detect signs -> lookup location on map -> add absolute measurement to kf

  • Get input image -> rectify image -> calculate visual odom -> add relative motion measurement to kf

  • Get input image -> rectify image -> find interesting points -> compare location to last seen location -> build a point cloud

RoboBuggy (pushing code ain't all we do)

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