Vision-based Unmanned Vehicle Platform and SLAM Implementation
Project Information
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
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
Hardware
- Vehicles
- Visual sensors
- Astra camera
- 3D LIDAR (coming soon)
- On-board computer
- Nvidia jetson
Jetson working with Pixhawk and Astra camera
SLAM Implementation
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
Lab mapping with r-tab map