University of Twente Student Theses
Study of Self-Driving Functionality : From SDC to Stereo Visual Odometry-Based Implementation in Small-Scale Karts
Dhanapal, Gayathri (2024) Study of Self-Driving Functionality : From SDC to Stereo Visual Odometry-Based Implementation in Small-Scale Karts.
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| Abstract: | This paper presents work based on our participation in the Self Driving Challenge(SDC) 2023 edition, aimed at the study of basic autonomous functionality behaviour in cars and discusses the vision-based approaches implemented during the challenge including an unsuccessfully attempted monocular visual odometry-based approach. The runner-up lane boundary marker detection-based method, which made the SDC electric go-kart traverse a distance of 1km autonomously, is presented. Addressing the limitations of the visual odometry approach after the SDC for further study, a small-scale test kart set up is rebuilt including a stereo setup, using which stereo visual odometry is implemented. A complete autonomous driving pipeline is explored including localization using stereo-based triangulation, path planning using a waypoint follower and lateral control using a geometric Stanley controller. The suitability of various techniques are checked for this. The influence of the distribution of features, presence of noise or outliers, and handling them pertinent to the challenges that arise from a very small stereo baseline coupled with low camera heights are investigated and discussed. In this regard, analysis is done by placing traffic cones along the track at regular gaps and using these features to check the feasibility of 2D-3D motion estimation. Autonomous driving is achieved in real-time, for distances of 10-20 meters outdoors at a processing speed of 12-13 FPS. The autonomous behaviour exhibited during the runs are presented, and the results are analyzed and discussed. |
| Item Type: | Essay (Master) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Programme: | Electrical Engineering MSc (60353) |
| Link to this item: | https://purl.utwente.nl/essays/104379 |
| Export this item as: | BibTeX EndNote HTML Citation Reference Manager |
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