Autonomous Path Following
By Andrey Zhdanov and Dan Feldman
Main Objectives
The robot should be able to follow the path autonomously
The robot should be able to detect the presence of path
Assumptions
Planar floor No obstacles, clutter Homogeneous floor, path
Algorithm
Motivation – Geodesic Active Contours
Implementation – Graph Cuts
Algorithm Overview
Image acquisition Color to Greyscale conversion Edge detection Inverse projective transformation Segmentation Driving instructions
Averaging vs PCA – RGB channels
Algorithm Stages – cont.
Algorithm Stages – contd.
Technical problems
Lack of precision of robot control Communication