Autonomous Resources

A list of resources that might be useful for the tasks addressed by the autonomous group in DNV GL Fuelfighter

Lidar

Theory / Papers

• Nice reference list for lidar point cloud processing for autonomous cars
• Representation of point clouds for surface analysis
• Plane detection with 3D Hough transform
• Fast range image-based segmentation of sparse 3D laser scans for online operation
• Fast segmentation of 3D point clouds]

Third Party Frameworks

• Google Cartographer -- An open source SLAM framework with Lidar support] (Open issue for Ouster integration)
• Another Lidar SLAM framework] (Fuelfighter fork with Ouster support)
• PCL - Pointcloud processing

Ouster Specific

• OS1 User Guide (Download this so it isn't lost)
• Official Ouster OS1 example code with ROS driver
• User made Ouster configuration files for cartogrograoher ROS as well as URDF files for Gazebo or similar

Sample Data

• Official Ouster Bag files

Camera

Third Party Frameworks

• Popular ORB Slam framework
• Simple and concise tutorial covering common useful techniques

Pointgrey / Flir Specific

• Spinnaker SDK Documentation] (Fuelfighters Spinnaker driver)

Sample Data

• Video from another team

Intel Nuc

• Home page
• Specs
• Ports: front back
• Open source GPU driver: arch linux ubuntu