{"id":90,"date":"2020-01-15T04:31:44","date_gmt":"2020-01-15T04:31:44","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2020teami\/?page_id=90"},"modified":"2020-05-08T19:33:24","modified_gmt":"2020-05-08T19:33:24","slug":"picture-gallery","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teami\/picture-gallery\/","title":{"rendered":"Photo Gallery"},"content":{"rendered":"

Team<\/h2>\n
\"\"
Our first selfie from the RealSense d435!<\/figcaption><\/figure>\n

 <\/p>\n

Test Platform (Husky) Photos<\/h2>\n
\"\"
Husky with sensors mounted<\/figcaption><\/figure>\n

 <\/p>\n

\"\"
Husky in Gazebo Simulation world<\/figcaption><\/figure>\n
<\/div>\n

Gazebo Simulation<\/h2>\n
\"\"
Ground plane with lane markings<\/figcaption><\/figure>\n

 <\/p>\n

\"\"
CMU parking lot world in Gazebo<\/figcaption><\/figure>\n

Sensing Subsystem<\/h2>\n
\"\"
Sensor data of the world<\/figcaption><\/figure>\n

 <\/p>\n

\"\"
RealSense images in simulation from sensor plugin<\/figcaption><\/figure>\n

 <\/p>\n

\"\"
Simulated LiDAR data<\/figcaption><\/figure>\n

 <\/p>\n

\"\"
New sensor configuration with cameras and LiDAR elevated to a more car-like height<\/figcaption><\/figure>\n

SLAM subsystem<\/h2>\n
\"\"
Generated grid map<\/figcaption><\/figure>\n

 <\/p>\n

\"\"
Generated cloud map<\/figcaption><\/figure>\n

 <\/p>\n

\"\"
Mapping Test<\/figcaption><\/figure>\n

 <\/p>\n

\"\"
Euclidean error calculated at each point<\/figcaption><\/figure>\n

Detection Subsystem<\/h2>\n
\"\"
Data collection for training the ERFNet model<\/figcaption><\/figure>\n

 <\/p>\n

\"\"
Results of ERFNet<\/figcaption><\/figure>\n

 <\/p>\n

\"\"
Lane detection output at different points in the garage (ERFNet)<\/figcaption><\/figure>\n

 <\/p>\n

\"\"
Lane Detection Test Accuracy (98.25%)<\/figcaption><\/figure>\n

 <\/p>\n

\"\"
Classical filtering and line fitting on the KITTI dataset (deprecated)<\/figcaption><\/figure>\n

 <\/p>\n

\"\"
Results of classical detection algorithm on Gazebo world (deprecated)<\/figcaption><\/figure>\n
<\/div>\n

Electrical Design<\/h2>\n
\"\"
PCB manufactured<\/figcaption><\/figure>\n

 <\/p>\n

\"\"
PCB integrated into Husky\u2019s power system<\/figcaption><\/figure>\n

 <\/p>\n

\"\"
PCB schematic in Eagle software<\/figcaption><\/figure>\n

 <\/p>\n

\"\"
PCB layout in Eagle software<\/figcaption><\/figure>\n

Logos<\/h2>\n

\"\" \"\" \"\"<\/p>\n","protected":false},"excerpt":{"rendered":"

Team   Test Platform (Husky) Photos   Gazebo Simulation   Sensing Subsystem       SLAM subsystem       Detection Subsystem […]<\/p>\n","protected":false},"author":218,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"page-templates\/page_fullwidth.php","meta":{"footnotes":""},"class_list":["post-90","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teami\/wp-json\/wp\/v2\/pages\/90","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teami\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teami\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teami\/wp-json\/wp\/v2\/users\/218"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teami\/wp-json\/wp\/v2\/comments?post=90"}],"version-history":[{"count":8,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teami\/wp-json\/wp\/v2\/pages\/90\/revisions"}],"predecessor-version":[{"id":545,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teami\/wp-json\/wp\/v2\/pages\/90\/revisions\/545"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teami\/wp-json\/wp\/v2\/media?parent=90"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}