This is the project repo for the final project of the Udacity Self-Driving Car Nanodegree: Programming a Real Self-Driving Car. For more information about the project, see the project introduction here.
Team members is provided in the table below:
Full Name | |
---|---|
David Dudas (Team Leader) | david@revolutionrobotics.org |
Saurav Kumar | saurav.kdeo@gmail.com |
叶莉萍 | 373049041@qq.com |
Yolanda de la Hoz | yolanda93h@gmail.com |
Ahmad Sheikhveisi | ahmad.sheikhveisi87@gmail.com |
- For traffic light detection we used the MS COCO dataset class as a pre-trainer ssd_mobilenet_v1_coco from https://github.com/tensorflow/models/blob/master/research/object_detection/g3doc/detection_model_zoo.md
- Pre processing: image is resized to 300x300 pixel in RGB format
- Traffic light is class 10, so we use detections only with this class
- We select the highest probability traffic light
- We crop a small image based on bounding box coordinates (with small padding)
- Color classification is calculated based on the number of high intensity red and green pixels on the cropped image
Please use one of the two installation options, either native or docker installation.
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Be sure that your workstation is running Ubuntu 16.04 Xenial Xerus or Ubuntu 14.04 Trusty Tahir. Ubuntu downloads can be found here.
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If using a Virtual Machine to install Ubuntu, use the following configuration as minimum:
- 2 CPU
- 2 GB system memory
- 25 GB of free hard drive space
The Udacity provided virtual machine has ROS and Dataspeed DBW already installed, so you can skip the next two steps if you are using this.
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Follow these instructions to install ROS
- ROS Kinetic if you have Ubuntu 16.04.
- ROS Indigo if you have Ubuntu 14.04.
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- Use this option to install the SDK on a workstation that already has ROS installed: One Line SDK Install (binary)
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Download the Udacity Simulator.
Build the docker container
docker build . -t capstone
Run the docker file
docker run -p 4567:4567 -v $PWD:/capstone -v /tmp/log:/root/.ros/ --rm -it capstone
To set up port forwarding, please refer to the instructions from term 2
- Clone the project repository
git clone https://github.com/udacity/CarND-Capstone.git
- Install python dependencies
cd CarND-Capstone
pip install -r requirements.txt
- Make and run styx
cd ros
catkin_make
source devel/setup.sh
roslaunch launch/styx.launch
- Run the simulator
- Download training bag that was recorded on the Udacity self-driving car.
- Unzip the file
unzip traffic_light_bag_file.zip
- Play the bag file
rosbag play -l traffic_light_bag_file/traffic_light_training.bag
- Launch your project in site mode
cd CarND-Capstone/ros
roslaunch launch/site.launch
- Confirm that traffic light detection works on real life images