March 2018
Intermediate to advanced
1396 pages
42h 14m
English
book
ROS Programming: Building Powerful Robots
by Anil Mahtani, Luis Sanchez, Enrique Fernandez, Aaron Martinez, Lentin Joseph
Content preview from ROS Programming: Building Powerful Robots
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Camera
Most autonomous vehicles are deployed with stereo or monocular cameras to detect various things, such as traffic signal status, pedestrians, cyclists, and vehicles. Companies such as MobileEye (http://www.mobileye.com/) which has been acquired by Intel built their advanced driving assistance system (ADAS) using a sensor fusion of cameras and LIDAR data to predict obstacles and path trajectory.
Other than ADAS, we can also use our own control algorithms by only using camera data. One of the cameras used by the Boss robot car in DARPA 2007 was Point Grey Firefly (PGF) (https://www.ptgrey.com/firefly-mv-usb2-cameras). These are high dynamic range cameras and have a 45-degree field of view (FOV):
Figure 7: Point Grey Firefly camera