Visual Perception

Visual Perception

Visual Odometry for Localization in Autonomous Driving

I estimated an AV's trajectory by images taken with a monocular camera set up on the vehicle.

In particular, I did

• Extract features from photos
• Use the extracted features to find matches between the features
• Use the found matches to estimate the camera motion between subsequent photos
• Use the estimated camera motion to build the vehicle trajectory

See the Jupyter Notebook for more details.

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Environment Perception for Autonomous Driving

Given the output from

• semantic segmentation neural networks
• 2D object detectors

I did

• Implement drivable space estimation in 3D
• Implement lane estimation
• Filter errors in the output of 2D object detectors
• Use the filtered 2D object detection results to determine how far obstacles are from the AV

See the Jupyter Notebook for more details.