AuTUnumus

Repository used to condense all code related to Tupã's autonomous vehicle adventure.

Contents

This repository is divided into three main modules: Image Processing, SLAM and Telemetry-Api. Specific information about how to execute each module is specified in each module's README.

Image Processing

The improc module contains a C++algorithm for cone identification. It's built using the library OpenCV.

Contents

• Camera calibration
• Color picking in HSV spectrum based on sampled images or input video
• Deterministic cone detection algorithm
  • Using sampled images
  • Using live video

SLAM

The slam module contains a Python and Numpy implementation of FastSLAM 2.0. It's able to simultaneously locate and map the robot.

Contents

• FastSLAM 2.0 implementation
• ZMQ connection to fetch input data
• API handler to pass information to our telemetry-api

Telemetry-API

The telemetry-api contains a simple REST API to receive data from our vehicle. It's used for real-time data visualization.

Contents

• None for now :(