TEAM WARRIORS

NXP AIM FINAL ROUND

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Members
1. K. Srikar Siddarth
i. National Institute of Technology Karnataka, Surathkal
ii. Electronics and Communication, 7th Semester
iii. Worked on Image Processing
2. Sanket G. Kundu
i. BMS Institute of Technology and Management, Bangalore
ii. Electronics and Communication, 6th Semester
iii. Worked on PID Control Implementation
3. S. Prithvi Raj
i. BMS Institute of Technology and Management, Bangalore
ii. Electronics and Communication, 6th Semester
iii. Worked on Image Processing

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Our Car

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System Hardware, Interface & sensor details

Sensor Used:
1. Gazebo-ROS Camera
i. Dimension of output : (1296,936)
ii. Format : R8G8B8
iii. Horizontal field of view : 1.5 radians
2. Gazebo-ROS Laser
i. Field of Range : -1 radians to +1 radians
ii. Number of lasers : 360
iii. Max Range: 2m

Communication:
1. Odometry : 100 Hz
2. Computer Vision : 20 Hz
3. LaserScan : 50 Hz

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Software Control Flow Diagram

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Coding Related

● Detection of Traffic Sign

○ We have made use of the Scale Invariant Feature Transform (SIFT) template matching
technique using the FLANN Based Matcher to detect the traffic signs.

● Road Detection and Navigation

○ Our implementation includes a least squares based contour line fitting technique for road
modelling.
○ Followed by a state machine that performs necessary tasks according to situation.

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 Conclusion

NXP AIM challenge has given us an opportunity to work on an interesting task

of autonomous racing. This challenge includes a smart application of
computer vision and sensor fusion techniques to model the entire system as
well as provide feedback. We were able to explore and experiment various
control techniques in achieving the goal.