Autonomous Path Following By Andrey Zhdanov and Dan Feldman

Main Objectives The robot should be able to follow the path autonomously The robot should be able to detect the presence of path

Assumptions

Planar floor No obstacles, clutter Homogeneous floor, path

Algorithm Motivation – Geodesic Active Contours Implementation – Graph Cuts

Algorithm Overview Image acquisition Color to Greyscale conversion Edge detection Inverse projective transformation Segmentation Driving instructions

Averaging vs PCA – RGB channels

Averaging vs PCA

Calibration

Algorithm Stages

Algorithm Stages – cont.

Algorithm Stages – contd.

Technical problems Lack of precision of robot control Communication