Course Presentation

1 how to transfer image to worldpoint

 pointToWold, and  use the measure distance to change world coordinate to vehicle coordinate.

2 how to process the cnn result with one times

 pause(10) after detection and running.

3 lane detection

 camera calibration: multiple angle  of checkerboard to calibrate the camera. test different height of mouting, choose a good height.

 vehilce platform: pwm 25%.

stanley controller

CNN: alexnet(90 images), cifar10net(40 images)

4camera

mounting height:33cm, angle:28 degrees.

5lane extraction

masking, kalman filter, inverse projection

kalman:Q=0.03, R=0.01. can reduce the effect of the light to the image.( varaiables  estimate:  ratio,coordinates)

phi=0.5*theta+e_fa （stanley）

resize the image to reduce the computation time.

max and min of steer angle is 0.8 and 0.2

drawbacks faced by image frame: depends on line,  and affected by corner, curve.

move the vehilce and see the changing rule, then make a control decesion.

 

6 last group: group 4

use pointstoworld, because it is not easy to get the parameter 's' after calibration.

chanllege: kalman, it improved a little. but not changes the result. because  the camera always detected the lane.

how to return the lane, if one of line is lost.

hough , peaks? change peak number.