Ed Murphy

What if we could correct the gps position based on recognizing a milestone on the path that has been well localized? We know from using non-RTK GPS with the path...

Another simpler project might be to create a turn-by-turn navigation; like google navigate. A gps map of the sidewalk network would be given. 1. Given a set of turns (in...

- Here is an article on segmentation models to recognize sidewalks from a small car, like a donkeycar; [Robot following a walkway using image segmentation](https://towardsdatascience.com/robot-following-a-walkway-using-image-segmentation-272bebd93a83) That article indicates the raspberry...

> @Ezward, > > As an alternative to using GPS for location, we could use extremely high resolution wheel encoders. > > I have a 6WD robot chassis where the...

Potential data sets for a sidewalk segmentation model - https://www.researchgate.net/publication/362550245_A_Dataset_for_Temporal_Semantic_Segmentation_Dedicated_to_Smart_Mobility_of_Wheelchairs_on_Sidewalks - https://huggingface.co/datasets/segments/sidewalk-semantic - https://ras.papercept.net/images/temp/IROS/files/1873.pdf

Free space segmentation for navigating sidewalks: https://docs.nvidia.com/isaac/archive/2020.1nx/packages/freespace_dnn/doc/freespace_segmentation.html

- Tensorflow tutorial using U-Net segmentation model; https://www.tensorflow.org/tutorials/images/segmentation - Tensorflow-lite image segmentation https://www.tensorflow.org/lite/examples/segmentation/overview - Tensorflow-lite U-Net: tensorflow-lite https://github.com/PINTO0309/TensorflowLite-UNet - QEngineering Tensorflow-Lite segmentation on RaspberryPi at 7fps: - https://www.youtube.com/watch?v=Kh9DLMgCIIE - https://github.com/Qengineering/TensorFlow_Lite_Segmentation_RPi_64-bit

If we were to do this indoors using corridors, where is a paper on corridor navigation; https://www.semanticscholar.org/paper/Vision-based-assistance-for-wheelchair-navigation-Pasteau-Krupa/3306150d768c833864c0fbd243ab06fd6a6af70e

Visual odometry and depth camera for wheel chair navigation; https://www.cs.ubc.ca/~mack/Publications/ViswanathanIROSWorkshop2011.pdf

Good article on image segmentation techniques; https://www.v7labs.com/blog/image-segmentation-guide