https://github.com/noshluk2/ROS2-Self-Driving-Car-AI-using-OpenCV

ROS2 Self Driving Car using Deeplearning and Object Tracking through openCV
https://github.com/noshluk2/ROS2-Self-Driving-Car-AI-using-OpenCV

computer-vision deep-learning gazebo object-detection opencv ros2 self-driving-car

Last synced: 3 months ago
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ROS2 Self Driving Car using Deeplearning and Object Tracking through openCV

• Host: GitHub
• URL: https://github.com/noshluk2/ROS2-Self-Driving-Car-AI-using-OpenCV
• Owner: noshluk2
• License: mit
• Created: 2021-06-19T05:25:42.000Z (about 5 years ago)
• Default Branch: main
• Last Pushed: 2024-07-10T05:55:48.000Z (almost 2 years ago)
• Last Synced: 2024-07-10T07:55:50.193Z (almost 2 years ago)
• Topics: computer-vision, deep-learning, gazebo, object-detection, opencv, ros2, self-driving-car
• Language: Python
• Homepage:
• Size: 117 MB
• Stars: 117
• Watchers: 6
• Forks: 43
• Open Issues: 3
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

• awesome-car-simulation - ROS2-Self-Driving-Car-AI-using-OpenCV

README

          
# ROS2 Prius Self Driving Car  using AI/Deeplearning and Computer Vision

  Table of Contents

  


    
🤝 About This Repository

    
⚡ Using this Repository

    
🔄 Course Workflow

    
⛲ Features

    
🧊 Pre-Course Requirements

    
🌳 Repository Tree

    
🌟 Star History

    
🔗 Link to the Course

    
👤 Instructors

    
📝 License

  


## About this Repository

A tesla Like Car in ROS2 will follow lane , Use AI to classify Sign Boards and perform Object tracking to act on the sign boards and set speed respectively

[![alt text](https://github.com/noshluk2/ROS2-Self-Driving-Car-AI-using-OpenCV/blob/main/Images_videos/thumbnail_1.png)](https://youtu.be/D5BkqDcfw2U "Click to Watch Intro Video on Youtube")

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## Using this Repository

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**Docker**:

 [![alt text](https://github.com/HaiderAbasi/ROS2-Path-Planning-and-Maze-Solving/blob/master/images/linux.png)](https://github.com/noshluk2/ROS2-Self-Driving-Car-AI-using-OpenCV/blob/main/docker/running_on_linux.md "Follow the guide to setup docker on Linux")  

 [![alt text](https://github.com/HaiderAbasi/ROS2-Path-Planning-and-Maze-Solving/blob/master/images/windows.png)](https://github.com/noshluk2/ROS2-Self-Driving-Car-AI-using-OpenCV/blob/main/docker/running_on_windows.md "Follow the guide to setup docker on Windows 10")  

**Ubuntu-20.04**: 

- Follow along the [Wiki](https://github.com/noshluk2/ROS2-Self-Driving-Car-AI-using-OpenCV/wiki/Ubuntu-20.04-Setup-Guide) guide to setup the project.

----

## Course Workflow

#### **Ros Package**

* World Models Creation

* Prius OSRF gazebo Model Editing

* Nodes , Launch Files

* SDF through Gazebo

* Textures and Plugins in SDF

#### **Computer Vision**

* Perception Pipeline setup

* Lane Detection with Computer Vision Techniques

* Traffic Light Detection Using Haar Cascades

* Sign and Traffic Light Tracking using Optical Flow

* Rule-Based Control Algorithms

#### **DeepLearning**

* Sign Classification using (custom-built) CNN

---

## Features

* **Prius Hybrid Car**

  -  ![alt text](https://github.com/noshluk2/ROS2-Self-Driving-Car-AI-using-OpenCV/blob/main/Images_videos/the_car.gif)

* **Satellite Navigation (NEW!)**

    * **Stage 1: Localiation**

      -  ![alt text](https://github.com/noshluk2/ROS2-Self-Driving-Car-AI-using-OpenCV/blob/main/Images_videos/Sat_Nav/1_localization.gif)

    * **Stage 2: Mapping**

      -  ![alt text](https://github.com/noshluk2/ROS2-Self-Driving-Car-AI-using-OpenCV/blob/main/Images_videos/Sat_Nav/2_mapping.gif)

    * **Stage 3: Path-Planning**

      -  ![alt text](https://github.com/noshluk2/ROS2-Self-Driving-Car-AI-using-OpenCV/blob/main/Images_videos/Sat_Nav/3_pathplanning.gif)

    * **Stage 4: Motion-Planning**

      -  ![alt text](https://github.com/noshluk2/ROS2-Self-Driving-Car-AI-using-OpenCV/blob/main/Images_videos/Sat_Nav/4_motionplanning.gif)

  

* **Lane Following**

  -  ![alt text](https://github.com/noshluk2/ROS2-Self-Driving-Car-AI-using-OpenCV/blob/main/Images_videos/lane_detection.gif)

* **Sign Board Detection**

  - ![alt text](https://github.com/noshluk2/ROS2-Self-Driving-Car-AI-using-OpenCV/blob/main/Images_videos/traffic_signs_boards.gif)

* **Traffic Signal Recognition**

  - ![alt text](https://github.com/noshluk2/ROS2-Self-Driving-Car-AI-using-OpenCV/blob/main/Images_videos/traffic_signal.gif)

* **T-Junction Navigation**

  - ![alt text](https://github.com/noshluk2/ROS2-Self-Driving-Car-AI-using-OpenCV/blob/main/Images_videos/j_turning.gif)

* **The World**

  -  ![alt text](https://github.com/noshluk2/ROS2-Self-Driving-Car-AI-using-OpenCV/blob/main/Images_videos/world.gif)

* **Custom Models**

  -  ![alt text](https://github.com/noshluk2/ROS2-Self-Driving-Car-AI-using-OpenCV/blob/main/Images_videos/custom_models.gif)

----

## Pre-Course Requirments

**Software Based**

* Ubuntu 20.04 (LTS)

* ROS2 - Foxy Fitzroy

* Python 3.6

* Opencv 4.2

* Tensorflow 2.14

**Skill Based**

* Basic ROS2 Nodes Communication

* Launch Files

* Gazebo Model Creation

* Basic OpenCV Usage

* Motivated mind :)

---

## Repository Tree

> Explaining repository structure (i.e important files and their functions).

![alt text](https://github.com/noshluk2/ROS2-Self-Driving-Car-AI-using-OpenCV/blob/main/Images_videos/ROS2_SDC_Tree.png)

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## Star History

[![Star History Chart](https://api.star-history.com/svg?repos=noshluk2/ROS2-Self-Driving-Car-AI-using-OpenCV&type=Date)](https://star-history.com/#noshluk2/ROS2-Self-Driving-Car-AI-using-OpenCV&Date)

---

## Link to the Course

✨ Enroll Now with Special Discount ✨ **[[Discounted Link]](https://www.udemy.com/course/ros2-self-driving-car-with-deep-learning-and-computer-vision/?couponCode=STARTON)**

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## Instructors

Haider Najeeb   (Computer Vision)    -  [Profile Link](https://www.linkedin.com/in/haider-najeeb-68812516a/)

Muhammad Luqman (ROS Simulation and Control Systems) - [Profile Link](https://www.linkedin.com/in/muhammad-luqman-9b227a11b/)

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## License

Distributed under the GNU-GPL License. See `LICENSE` for more information.