mnzs1701 / naomi Goto Github PK

Naomi takes in raw camera images along with LiDAR inputs and converts it into a pipeline of lanes, these lanes are used by a particle filter on the OSM Map in order to navigate autonomously in urban environments.

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This is an example of how you may give instructions on setting up your project locally. To get a local copy up and running follow these simple example steps.

The following systems need to be set up and running:

1. LIOSAM
2. lane-detector-ros
3. quick mcl
4. docker

1. Clone the package and build it
2. Run the docker for pulling and caching the images, use the yaml file located under the config folder

docker run -p 8080:8080 -d -t -v ~/mapproxy:/mapproxy danielsnider/mapproxy

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Robot Setup

Watch some of the demos of the vehicle here

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System architecture

Original location of the testing

Without the particle Filter

With the particle filter implemented

Further documentation is provided here

Contributions are what make the open source community such an amazing place to learn, inspire, and create. Any contributions you make are greatly appreciated.

If you have a suggestion that would make this better, please fork the repo and create a pull request. You can also simply open an issue with the tag "enhancement". Don't forget to give the project a star! Thanks again!

1. Fork the Project
2. Create your Feature Branch (git checkout -b feature/AmazingFeature)
3. Commit your Changes (git commit -m 'Add some AmazingFeature')
4. Push to the Branch (git push origin feature/AmazingFeature)
5. Open a Pull Request

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Distributed under the GNU General Public License v3.0 See LICENSE.txt for more information.

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Naman Menezes - NamanMenezes17 - email@email_client.com

Project Link: https://github.com/Mnzs1701/naomi

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• AIRL Lab IISc

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