Mapping 2D-circuit drawn on the floor with only a camera.

Hi, I'm looking for information or guidance about 2D floor race-circuit mapping with a monocular camera.

I've made an oval circuit with adhesive tape on the floor. The circuit consists of two circumferences of tape, one within the other, so the overall is an oval-like race circuit. The floor is black colour and the adhesive tape is white.

I have an RC car scale 1/10 which "races" in that circuit and I am thinking on something similar to orb-slam2 but I only want to focus on the floor and on the tape. The camera is placed on top of the RC car.

I am trying to find a way to map the circuit only using a camera, detecting the drivable area (within the adhesive tape) of the circuit.

-----EDIT-----

I found this video that show pretty much the output of what I am trying to achieve. Haven't achieved it yet though.

This images show what I am trying to do. The images are from the same project of the video but I cannot find any information about the project, only the video.

image description

Any information is welcome. Thanks in advance :)

Asked by MrRivi on 2020-06-23 12:12:03 UTC

Comments

I would check how the others, e.g. Turtlebot people are doing it.

Asked by Humpelstilzchen on 2020-07-27 02:18:04 UTC

Great! Thank you for the info :) Checking them right away! Also, I found this topic in the ROS Q&A that is related with my topic: https://answers.ros.org/question/348524/what-is-different-rgbd-slam-vs-rtab-map-slam/

Asked by MrRivi on 2020-07-27 12:03:48 UTC

Answers

This package might be useful:

https://github.com/jforsyth/ROS-Map-Generator

Asked by nsprague on 2020-06-23 12:45:59 UTC

Comments

To add to this, capture the map using a camera, run it through OpenCV to binarise the image (you will need to tune the threshold based on your colours and lighting), then use the above package.

Asked by Geoff on 2020-06-23 18:42:06 UTC

I forgot to mention, I am trying to map the circuit with a camera on top of an RC car that races in that circuit.

Asked by MrRivi on 2020-07-25 18:05:23 UTC

Hello again,

I have found an interesting approach to my problem, it's called Road-SLAM. Although I cannot find the code (not open source) here is the published paper: https://ieeexplore.ieee.org/document/7995958.

And the video of the demonstration: https://www.youtube.com/watch?v=JLjFxDMovnc

This approach is very much what I am looking for (although in open source). I will try to contact the developer and repost again if I get an answer.

Cheers.

Asked by MrRivi on 2020-08-05 11:06:04 UTC