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Next 2019 - Bert Jan Schrijver - Building a self-driving RC car

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Bert Jan Schrijver - OpenValue @ Next 2019

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Next 2019 - Bert Jan Schrijver - Building a self-driving RC car

  1. 1. Building a self-driving RC car bertjan@openvalue.nl Bert Jan Schrijver @bjschrijver
  2. 2. @TimvEijndhoven@bjschrijver
  3. 3. @bjschrijver@TimvEijndhoven@bjschrijver Let’s meet Bert Jan Schrijver
  4. 4. @bjschrijver@TimvEijndhoven@bjschrijver Let’s meet Tim van Eijndhoven
  5. 5. @TimvEijndhoven@bjschrijver How it all started…
  6. 6. @TimvEijndhoven@bjschrijver RoboRace challenge
  7. 7. @TimvEijndhoven@bjschrijver The rules • 4 teams • Each team gets: • RC car kit • Fixed budget (150 euro) • Three races: 1. drag race (start, drive, stop) 2. race track (race 1 + corners) 3. destruction derby ;-)
 (race 2 with multiple cars on same track)
  8. 8. @TimvEijndhoven@bjschrijver The kit
  9. 9. @TimvEijndhoven@bjschrijver The brain
  10. 10. @TimvEijndhoven@bjschrijver The platform
  11. 11. @TimvEijndhoven@bjschrijver Vert.x • Toolkit for building reactive applications on the JVM • Event-driven, non-blocking • General purpose application framework • Why Vert.x for our project? • Lightweight, fast • Polyglot • Distributed eventbus (browser included!) • Building microservices with Vert.x: https://youtu.be/yLg-LPSRjho
  12. 12. @TimvEijndhoven@bjschrijver Connecting the dots
  13. 13. @TimvEijndhoven@bjschrijver • General purpose input/output GPIO
  14. 14. @TimvEijndhoven@bjschrijver Speaking the same language
  15. 15. @TimvEijndhoven@bjschrijver PWM • Pulse-width modulation, repeating pulses of variable width • ServoBlaster: https://github.com/richardghirst/PiBits/tree/ master/ServoBlaster
  16. 16. @TimvEijndhoven@bjschrijver Staying safe
  17. 17. @TimvEijndhoven@bjschrijver Getting visual
  18. 18. @TimvEijndhoven@bjschrijver RPi Cam Web Interface • Web interface for the Raspberry Pi Camera module • Video streaming • Web interface to configure video settings
 
 https://github.com/silvanmelchior/RPi_Cam_Web_Interface
  19. 19. @TimvEijndhoven@bjschrijver Ready for the road
  20. 20. @TimvEijndhoven@bjschrijver Putting stuff together
  21. 21. @TimvEijndhoven@bjschrijver Learning to drive…
  22. 22. @TimvEijndhoven@bjschrijver OpenCV • Open source computer vision and machine learning library written in C++ with Java interfaces • Optimised algorithms for computer vision • Most widely used computer vision library • Many resources available
  23. 23. @TimvEijndhoven@bjschrijver 1: Canny edge detection 2: Probabilistic Hough Line Transform 3: Filter group and average lines 4: Determine lane center
  24. 24. @TimvEijndhoven@bjschrijver Show me some code…
  25. 25. @TimvEijndhoven@bjschrijver Boars Nest (Laptop) Duke Farm (Car) Daisy Luke Bo Servoblaster Boss Hogg Roscoe Flash GeneralLee Heartbeat Manual inputs Steering / Speed instructions Start/Stop autopilot Image feed Angle & Distance Intermediate CV images
  26. 26. @TimvEijndhoven@bjschrijver Expectation
  27. 27. @TimvEijndhoven@bjschrijver Reality
  28. 28. @TimvEijndhoven@bjschrijver
  29. 29. @TimvEijndhoven@bjschrijver
  30. 30. @TimvEijndhoven@bjschrijver
  31. 31. @TimvEijndhoven@bjschrijver
  32. 32. @TimvEijndhoven@bjschrijver
  33. 33. @TimvEijndhoven@bjschrijver Let’s race!
  34. 34. @TimvEijndhoven@bjschrijver
  35. 35. @TimvEijndhoven@bjschrijver
  36. 36. @TimvEijndhoven@bjschrijver In the real world
  37. 37. @TimvEijndhoven@bjschrijver
  38. 38. @TimvEijndhoven@bjschrijver
  39. 39. @TimvEijndhoven@bjschrijver
  40. 40. @TimvEijndhoven@bjschrijver
  41. 41. @TimvEijndhoven@bjschrijver
  42. 42. @TimvEijndhoven@bjschrijver Examples of safety measures • Geographic area limitation • Strictly defined conditions • Redundancy • Multiple sensors • Isolating control systems • Human intervention fallback
  43. 43. @TimvEijndhoven@bjschrijver Weakness of AI for computer vision
  44. 44. @TimvEijndhoven@bjschrijver Weakness of AI for computer vision
  45. 45. @TimvEijndhoven@bjschrijver Ethics
  46. 46. @TimvEijndhoven@bjschrijver http://moralmachine.mit.edu
  47. 47. @TimvEijndhoven@bjschrijver http://moralmachine.mit.edu
  48. 48. @TimvEijndhoven@bjschrijver “In hazardous situations that prove to be unavoidable, despite all technological precautions being taken, the protection of human life enjoys top priority in a balancing of legally protected interests.”
  49. 49. @TimvEijndhoven@bjschrijver “In the event of unavoidable accident situations, any distinction based on personal features (age, gender, physical or mental constitution) is strictly prohibited.”
  50. 50. @TimvEijndhoven@bjschrijver Future improvements • Improve detection and navigation of curved lanes • Optimize line detection algorithm using sliding window • Automatic (re)calibration of: • Video parameters • OpenCV parameters • Add Flight recorder to enable replay and debug • Control servos directly from Java • Use AI for navigation • Optimize for running everything on the car
  51. 51. Questions? @TimvEijndhoven @bjschrijver
  52. 52. Thanks for your time. Got feedback? Tweet it! All pictures belong to their respective authors https://github.com/rc-dukes @TimvEijndhoven @bjschrijver

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