Master of Computer vision and Robotics

Visual Servoing Project

Supervisors: Omar TAHRI

Students:
MUHAMMAD IZZUL
Pranavan Ramakrishnan
Cheng CHEN

Objectives

The purpose of this project is to make turtlebot3 realize the following two functions:

• Automatic tracking: make the robot track and follow a yellow line by the camera information
• Automatic parking: detect and understand parking sign and park automatically in the right position
  

Our map choices:

• Turtlebot3_autorace_2020

Implementation

Following line

• To launch the map and bringup turtlebot

  roslaunch turtlebot3_gazebo turtlebot3_autorace.launch 
  

• To launch the calibration

  roslaunch t3_camera t3_intrinsic_camera_calibration.launch
  roslaunch t3_camera t3_extrinsic_camera_calibration.launch
  

• To launch the follow the line

  roslaunch t3_follow_line t3_lane_detects.launch
  roslaunch t3_follow_line t3_lane_controls.launch
  

Demonstration of Following line:

Please click this link to download the full video
**Parking Detection and Park** - To launch the map and bringup turtlebot

  roslaunch turtlebot3_gazebo turtlebot3_autorace.launch 

• To launch the calibration

  roslaunch t3_camera t3_intrinsic_camera_calibration.launch
  roslaunch t3_camera t3_extrinsic_camera_calibration.launch
  

• To launch the parking detection

  roslaunch t3_parking_sign_detect t3_detect_sign.launch
  roslaunch t3_parking_sign_detect t3_detect_parking.launch
  roslaunch t3_parking_sign_detect t3_control_parking.launch
  

Demonstration of Parking Detection and Park:

The parking sign detected

Please click this link to download the full video

The turtlebot park at the parking

Please click this link to download the full video