Week 6

Study to know what we are doing!

Posted by Tiago Almeida on March 28, 2019

At the beginning of the week, I tried to do the migration to lastest versions of Ubuntu and ROS on the ATLASCAR computer, however, there were some logistic problems that I think that in the next week will be solved.

After that, I finished the algorithm study and I think is quite important to clarify the algorithm pipeline. The procedures start by applying the IPM (Inverse Perspective Mapping) thecnique, which has as requirements the intrinsic and extrinsic camera parameters. This method allows to suppress the image distortion. Then, the images features are extracted by the RANSAC method and converted to splines. The next step is to update and track the lines that are sequentially found and for this the Kalman filter is allied to the Hungarian Algorithm. The Kalman filter is used to track the lines but needs an optimization method (Hungarian Algorithm) to do that. It's also important to say that this algorithm has multithreading processes, which may lead to a faster overall execution.