Local Planner/Obstacle Detection

[kevinmsmith214]

The navigation is now going to be implemented using a global planner (using GPS) in tandem with a local planner (using RGB-D and odometry data). Here, we will research local planners and the pros and cons of the different approaches.

Also, research obstacle detection algorithms, specifically ones in papers that have been tested in rover environments.

[kevinmsmith214]

Favorite obstacle detection paper so far
Paper

This algorithm performs segmentation, stereo matching/height extraction, create a cost map and place a probability of an obstacle within the costmap. Performed well in the Mars Yard of PRL-ESA.