Vision-based Autonomous Driving

An attempt to do robust self-driving using vision techniques on a physical platform.

Platform

• Raspberry Pi 3 (Jetson TX1 - Planned)
• Chassis: Wild Thumper (differential drive)
• Pure Python

Hardware Setup

• 6 DC motors driven by 2S Lithium-polymer cell
• Sabertooth 2x25A Regenerative Motor Driver (link) (Serial mode)
• Arduino Nano to interface between Raspberry Pi and Sabertooth

Software Implementation

• OpenCV for vanishing point detection
• (simple walkthrough: notebook)

Video

In Progress

1. Camera calibration (notebook)

TODO

1. PID control
2. Integrate into ROS
3. Add more robust autonomy with mapping and localisation
4. Acceleration with CUDA on Jetson TX1