OanaGaskey/Self-Driving-Car-Capstone

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MIT License
Created about 5 years ago
Updated about 2 years ago

OanaGaskey/Self-Driving-Car-Capstone

OanaGaskey

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Advanced-Lane-Detection

Computer Vision algorithm to compute road curvature and lane vehicle offset using OpenCV Image Processing, Camera Calibration, Perspective Transform, Color Masks, Sobels and Polynomial Fit.

Jupyter Notebook

Extended-Kalman-Filter

Sensor fusion algorithm using LiDAR and RADAR data to track moving object, predicting and updating dynamic state estimation.

Highway-Driving

Path planning algorithm to safely navigate a vehicle around highway while changing lanes and limiting acceleration and jerk.

Lane-Lines-Detection

Computer Vision algorithm to detect straight lane lines markings on road using OpenCV Image Processing, Color Masks, Canny Edge Detection and Hough Transform.

Jupyter Notebook

Route-Planner

Google maps style routing algorithm to calculate the shortest path between two points using A* search algorithm.

Jupyter Notebook

Kidnapped-Vehicle

Particle Filter algorithm to localize a vehicle within a few centimeters, given a map, LiDAR measurements, vehicle controls and GPS.

PID-Controller

Proportional Integral Derivative algorithm to control a car's direction and velocity through steering angle and throttle actuators.

ComputerVision-Exercises

Jupyter Notebook

Behavioral-Cloning

Deep Neural Network modeled with Keras to clone human behavior of steering a car around a virtual track using front-facing camera images.

OpenStreetMap-Route-Planning-Project

Traffic-Sign-Classifier

Traffic sign recognition algorithm using front facing camera images and classification based on Convolutional Neural Networks.

Jupyter Notebook

Snake-Game

Concurrent-Traffic-Simulation

Multi thread application to simulate vehicles driving in a city, while sharing resources such as intersections with traffic lights.

Model-Predictive-Control

Model Predictive Controller to steer a car for following reference trajectory while driving around a curved track.

Localization-Excercises

Jupyter Notebook