kmanjari / corridorobstacleavoidance

Oversimplified obstacle detection and avoidance for corridors. Determine clearance level.

Corridor Obstacle Avoidance

Simplified problem of identifying an obstacle in a corridor using signal processing techniques and determining if should turn left or right.

Graphical Explanation of the problem:

Input

From an Original Image, using various techniques we can generate a Depth Map. The original Image could look like:

Provided a depth map such as the one below:

Determines clearance on left and right such as the image below:

Observe the left green and right orange line, the clearance is for an infinitely tall object, hence the lines stop and take into consideration the uneven width of the object into calculating the clearance. The clearance then is the minimum distance between the object and corridor.

EDA

CorridorAvoidanceEDA.ipynb

Python Utility Requirements

python 3.x

pip install -r requirements.txt

Usage

python find_clearance.py filename

Output

[right/left] [clearance in m]