Week 14 (17/5 – 23/5) – Data gathering and testing

This week’s work was mainly centered in the setup of the AtlasCar and in gathering data in the form of rosbags for testing.

Although launching the different lasers was relatively easy, the installation of cameras and the setup of the GPS and IMU combo required more work and troubleshooting, the last mainly with the transition from ROS Kinectic to ROS Melodic.

To record the rosbags, two places were chosen according their different features, one with straight road curbs and lines (Parque de Exposições) and one with inverted curbs and highway (Salinas).

In Figures 1, 2 and 3 there are examples of the performance of different edge detection filters in an inverted road curb situation. The algorithms positively identify the curbs and road limits.

In the highway situation, as predicted, the algorithm performs poorly due to lack of laser reading information on the account of high speeds.

Fig. 1: Example of data gathering in an inverted curbs situation – density grid (Daniela Rato, 2019)
Fig. 2: Example of data gathering in an inverted curbs situation – Prewitt grid (Daniela Rato, 2019)
Fig. 3: Example of data gathering in an inverted curbs situation – Laplacian grid (Daniela Rato, 2019)

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