intersection recognition(ros ver.)

• hypothesis_simple.launch

  • toe_finding
    • "scan_hz" : Frequency of 2D-LiDAR
    • "scan_off_set" : How many adjacent point clouds to ignore
    • "epsilon1" : Threshold
    • "epsilon2" : Threshold
    • "epsilon3" : Threshold

• hypothesis.launch

  • intersection_recognition_tensorflow.p
    • "model_full_path": Path to load Neural Network model(.h5)

https://youtu.be/1tNvuxRLBRw

The robot go straight until it find 3-way junction whici can turn left.

• Test 1 a straight road https://youtu.be/G36qR3UHfps

• Test 2 a road included 3-way junction which can turn right. https://youtu.be/VW5J42WxkhI