Vision-based Unmanned Vehicle Platform and SLAM Implementation

Project Information

• Sponsor: Rockwell Collins

• Leader: Chiyu Zhang

• Participants

  • Graduate students: Githin John

  • Undergraduate students: Jaehyeok Kim (Jefferson), Jong-Min Park, Prit Chovatiya, and more

Introduction

• The overall goal of this project is to build a vision-based unmanned vehicle platform which integrates visual sensors and algorithms to the unmanned vehicle navigation/control system.

• The platform will be served as an algorithm testbed for the future research. 

• Current work

  • Unmanned vehicle building/testing

  • Programming/software developing in ROS (robotic operating system)

  • Visual sensor developing 

Hardware

• Vehicles 

• Visual sensors

  • Astra camera

  • 3D LIDAR (coming soon)

• On-board computer

  • Nvidia jetson

SLAM Implementation

• As an application of the vehicle platform, we are currently implement the SLAM algorithm. 

• SLAM software: R-TAB MAP

  • An open-source SLAM program