UGV Stereo Project Closure Report

August 20, 2019

Version 0.0.1

PI	Lu Jiangzhou, Wang Han
Researchers:	Zhang Handuo Karunasekera Hasith Zhou Hui

Motivation

• Give a complete overview of the proposed system.

• Outline the final design and applied algorithms of each module.

• Indicate the detailed implementation.

• Give recommendatioins for future work.

Project Contents

• Overview
• SSLAM Localization
• Cubicle Detection
• Cubicle Merge
• LaneKerb Detection

USER GUIDE

• Computer Setup
• Installation
• Camera Calibration
• Obstacle_msgs
• How to Train Object Detection Net
• How to Train LaneKerbNet
• SLAM User Guide
• Cubicle Detection User Guide
• LaneKerb Detection User Guide

Algorithms

• SLAM Algorithms
• Cubicle Detection Algorithms
• LaneKerbNet Algorithm

SLAM API REFERENCE

• Class Hierarchy
• Full API

Detection API REFERENCE

• Class Hierarchy
• Full API

Merge API REFERENCE

• Class Hierarchy
• Full API

Lanekerb API REFERENCE

• Class Hierarchy

Authors and Credits

Zhang Handuo, Hasith Karunasekera, Zhou Hui, from the Robot Vision Group, NTU.