2021FallTeam7

Team Members

• Andrew Liang (ECE)
• Jiansong Wang (MAE)
• Shane Benetz (ECE)
• Kevin Kruse (Extension/BIS)

Project Overview/Proposal

The goal of this project is the integration of a Lidar in the existing Framework of the ROS Navigation system.

Software Development

Calibrating the existing ROS framework

One especially important thing for our project is a properly calibrated framework.

To achieve this, you can either adjust the controls to make it fit. However, an alternative and more precise solution is to apply a specific color filter. To do this, we first started a live transfer of the current image.

Once we had the image, we opened a color tweezer using Microsoft Word and detected the color of the yellow center track.

The program now gives us the color in RGB color space. Using a converter, e.g. https://www.peko-step.com/en/tool/hsvrgb_en.html we can now convert this color code into the HSV color code used by our OpenCV module. Finally we just have to configure this filter correctly and add some tolerances, because especially in twilight the colors vary. Once this process is complete, we get a perfectly calibrated system, as shown in the image below.

Acknowledgement

• Jack Silberman (Professor)
• Dominic Nightingale (TA)
• Haoru Xue (TA)