A baby version of my bearing vision only EKF slam on our robot

It's the first version my EKF slam on this robot. The goal is fusion odometry with monocular vision. No ground truth, but from the video we can see the odometry can not close the loop and the slip make the trajectory can not be a circle. But the result from EKF_slam works here, it correct the angle of rotation when the robot have a sharp turn.

Lane detection, following and obstacle detection and avoidance

Here is our group's robot. The main work includes:

1. Lane detection
2. Lane following
3. obstacle detection
4. obstacle avoidance
5. Real time system

Anyway, it works now. Now I need do more work to challenge more complex situation and explore much more my own research and implement them on this volksrobot.

some thing about motor encoder

A new word is odometry , which is geometry parameter you can get from robot control, such as x and y position after robot moving.

If you want to calculate odometry automatic , you should need encoder on motor .\

Encoder Resolution=PI*Diameter/PulsePerRotation/gearRatio.

First time , I didn't get what gear ratio mean, so I get the wrong encoder resolution.

Vision odometry

It's also interesting because it uses optical flow to get the trace of robot...
It's also new in vision field..

Hopefully I can use it in the next step work.

To see:http://www-robotics.jpl.nasa.gov/publications/Mark_Maimone/rob-06-0081.R4.pdf