Self-Driving Vehicular Project

Team: Aaron Cruz [UG], Arya Shetty [UG], Brandon Cheng [UG], Tommy Chu [UG], Vineal Sunkara [UG], Erik Nießen [HS], Siddarth Malhotra [HS]

Advisors: Ivan Seskar and Jennifer Shane

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Project Description & Goals:
Build and train miniature autonomous cars to drive in a miniature city.
RASCAL (Robotic Autonomous Scale Car for Adaptive Learning):

• Using the car sensors, offload image and control data onto a cloud server.
• This server will train a neural network for our vehicle to use in order to drive autonomously given camera image data.
  

​GitLab

Technologies: ROS (Robot Operating System), Pytorch

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Week 1:

​Week 1 Slides

Progress:

• Familiarize with past summer's work:​GitLab, RASCAL setup, ​Software Architecture
• Debug issue with RASCAL's pure pursuit

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Week 2:

​Week 2 Slides

Progress:

• Setup X11 forwarding for GUI applications through SSH
• Visual odometry using Realsense Camera and ​rtabmap
• Streamline data pipeline that processes bag data (car camera + control data) into .mp4 video
• Detect ARUCO markers from a given image using Python & OpenCV libraries
• Setup Intersection server (node with GPU)
• Develop PyTorch MNIST model
• Trained "yellow thing" neural network
• Line up perspective drawing with camera to determine FOV

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Week 3:

​Week 3 Slides

Progress:

• Created web display assassin to eliminate web server when closing ROS
• Tested "yellow thing" model, great results
• SSHFS setup
• Calibrate Realsense camera
• Created "snap picture" button on web display for convenience
• Developed python script to detect ARUCO marker and estimate camera position
• Tested point cloud mapping with rtabmap
• Attempt sensor fusion with encoder odometry and visual odometry
• Data augmentation to artificially generate new camera perspectives from existing images

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Week 4:

​Week 4 Slides

Progress:

• Refined aruco marker detection for more accurate car pose estimation
• Trained model with video instead of images
• Improved data pipeline from car sensors to server
• Refined data augmentation to simulate new camera perspectives
• Added more data visualization (Replayer) to display steering curve, path, and images to web server

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Week 5:

​Week 5 Slides

Progress:

• Aruco Marker Detection now updates car position within XY plane. Finished self-calibration system
• Addressed normalization and cropping problems
• Introduced Grad-CAM heat map
• Resolved Python version mismatch issue
• Visualized training data bias through histogram
• Smoothed data to reduce inconsistency in training data
• Simulation Camera - skews closest image to simulate new view
• Added web display improvements - search commands, controller keybinds

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Week 6:

​Week 6 Slides

Progress:

• Curvature interpolation and calibration
• Trained model using double orange barriers
• Training batches are less 0 biased
• Data augmentation blur artifacts during NN normalization - solid fill
• Simulated driving with ML model and image skewing
• Improvements to Aruco detection: code refactoring, functionality for multiple Arucos

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Week 7:

[Week 7 Slides]

Progress:

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Week 8:

[Week 8 Slides]

Progress:

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Week 9:

[Week 9 Slides]

Progress:

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Week 10:

[Week 10 Slides]

Progress:

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Additional Resources: