Collision Avoidance System

In this project, we will:

1. Develop a way to match 3D objects over time by using keypoint correspondences.
2. Compute Time-To-Collision (TTC) based on Lidar measurements.
3. We will then proceed to do the same using the camera, which requires to first associate keypoint matches to regions of interest and then to compute the TTC based on those matches.

Dependencies

• cmake >= 2.8
  • All OSes: click here for installation instructions
• make >= 4.1 (Linux, Mac), 3.81 (Windows)
  • Linux: make is installed by default on most Linux distros
  • Mac: install Xcode command line tools to get make
  • Windows: Click here for installation instructions
• Git LFS
  • Weight files are handled using LFS
• OpenCV >= 4.1
  • This must be compiled from source using the -D OPENCV_ENABLE_NONFREE=ON cmake flag for testing the SIFT and SURF detectors.
  • The OpenCV 4.1.0 source code can be found here
• gcc/g++ >= 5.4
  • Linux: gcc / g++ is installed by default on most Linux distros
  • Mac: same deal as make - install Xcode command line tools
  • Windows: recommend using MinGW
• Download yolov3.weights file here:
  • https://pjreddie.com/media/files/yolov3.weights

Basic Build Instructions

1. Clone this repo.
2. Make a build directory in the top level project directory: mkdir build && cd build
3. Compile: cmake .. && make
4. Run it: ./3D_object_tracking.