Summary

I was selected for the 6  month Internship at the Automotive Association of India .

I developed a perception  pipeline for ARAI’s Autonomous Vehicle ‘Swayam GO’ .

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1. Setup and Calibrating LiDAR- Camera

• Setting  up LiDAR

• Setting up Camera

• Intrinsic Calibration of Camera

• Data acquisition from LiDAR and Camera

Sensor Fusion

• Transformation Matrix between LiDAR and Camera

• Acquiring co-ordinates of board corners from Camera.

• Acquiring co-ordinates of board corners from LiDAR.

• Finding the correspondence between LiDAR and Camera.

• Projecting the 3D LiDAR points to 2D Image.

• Projecting 2D Image in 3D LiDAR data.

3D Obstacle Detection in LiDAR.

• Crop Box function

• Plane Segmentation using RANSAC.

• Euclidean Clustering

• Min-Max Boxing

Custom Object Detection  .

• Data Preprocessing

• Data collection for Indian Dataset.

• Architecture Selection.

• Hyper parameters tuning and Training the Model.

•  Testing and Improving Models.

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