Pseudo Vision

Pseudo Vision: A Vision Based End-to-end Autonomous Navigation Algorithm using LiDAR Generated Occupancy Grid.
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Table of Contents

1. About The Project
   • Built With
2. Getting Started
   • Prerequisites
   • Installation
3. Usage
4. Contributing
5. License
6. Contact
7. Acknowledgments

About The Project

The above shows the AV navigating autonomously using only a LiDAR sensor without prior knowledge of the surroundings. The top visuals show how the CNN extracts information from the LiDAR generated occupancy grid.

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Built With

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Getting Started

Prerequisites

• Python 3.8
• ROS Noetic
• F1Tenth Simulator

Installation

1. Clone the repo

   git clone https://github.com/yqchau/pseudo-vision.git

2. Install Python Packages

   pip install -r requirements.txt

3. Edit the configurations in config.yaml to select the correct model

    timm:
      arch: "mobilenetv2_100"
      transfer_learning: false

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Usage

Use this space to show useful examples of how a project can be used. Additional screenshots, code examples and demos work well in this space. You may also link to more resources.

Launching

1. Compile the codes

   catkin_make
   source devel/setup.bash

2. Launching the navigation node

   roslaunch pseudo-vision pvision_timm_nav.launch

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Contributing

Contributions are what make the open source community such an amazing place to learn, inspire, and create. Any contributions you make are greatly appreciated.

If you have a suggestion that would make this better, please fork the repo and create a pull request. You can also simply open an issue with the tag "enhancement". Don't forget to give the project a star! Thanks again!

1. Fork the Project
2. Create your Feature Branch (git checkout -b feature/AmazingFeature)
3. Commit your Changes (git commit -m 'Add some AmazingFeature')
4. Push to the Branch (git push origin feature/AmazingFeature)
5. Open a Pull Request

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License

Distributed under the MIT License. See LICENSE.md for more information.

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Contact

Your Name - @chauyuanqi - [email protected]

Project Link: https://github.com/yqchau/pseudo-vision

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Acknowledgments

• F1Tenth Developers
• PyTorch Open Source Community
• ROS Open Source Community

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