Indoor mobile robot navigation
I'm trying to realize indoor navigation for a car. I have a monocular camera and an IMU.
Some ideas I'm exploring:
- Extract the corridor edges and design a controller that would steer the car in a way that it is centered within the extracted corridor edges.
- Use 2D SLAM to identify wall edges and steer accordingly.
- Segment out the floor in the image and get a driveable surface and then steer the car to that surface.
Q1. Are there ROS packages for 1,2,3 ? Q2. What other ideas should I explore?