1. Autonomous Path Following By Andrey Zhdanov and Dan Feldman

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

3. Assumptions

4. Planar floor No obstacles, clutter Homogeneous floor, path

5. Algorithm Motivation – Geodesic Active Contours Implementation – Graph Cuts

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

7. Averaging vs PCA – RGB channels

8. Averaging vs PCA

9. Calibration

10. Algorithm Stages

11. Algorithm Stages – cont.

12. Algorithm Stages – contd.

13. Technical problems Lack of precision of robot control Communication