Skip to content

Latest commit

 

History

History
34 lines (21 loc) · 1.2 KB

README.md

File metadata and controls

34 lines (21 loc) · 1.2 KB
Raw

Basic Info

  • Library: OpenCV 4.1
  • Language: C++
  • Plateform: Mac

Project 1 | Lidar Obstacle Detection

  • Created a pipiline for segmentation and clustering of the real time PCD data.
  • Real time PCD data is streamed to the pipeline.
  • Data is downsampled using Voxel-Grid.
  • Implemented Ransac Algorithm for segmentation of road from obstacles.
  • Implemented Euclidean Clustering Algorithm using KD-Tree for clusteration of the obstacles.

This is how the results looks like:

Project 2 | Feature Tracking 2D

  • Implemented Keypoint Detection, Description Extraction and Keypoints Matching algorithms.
  • First keypoints are located in the images.
  • Using these keypoints their descriptors are extracted.
  • Same keypoints are matched using their descriptors in different images.

Following is a detailed analysis of algorithms used for keypoints detection, descriptor extraction and keypoints matching.