SenseDrive: Lidar & Vision-Based Autonomous Navigation

SenseDrive is an open-source initiative aimed at advancing autonomous vehicle localization and navigation to achieve Autonomous Driving Level 5 (AD LEVEL 5). By leveraging onboard sensors and high-definition geolocated maps, the project aspires to develop robust solutions for seamless navigation in complex environments.

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🚗 Key Features

• Lidar-Based SLAM:Implements Lidar Simultaneous Localization and Mapping (SLAM) for real-time 3D environmental mapping
• Visual SLAM:Utilizes camera data to perform Visual SLAM, enhancing perception in GPS-denied environments
• Sensor Fusion:Combines data from multiple sensors to improve localization accuracy and reliability
• Traffic Light Negotiation:Incorporates logic for interpreting and responding to traffic signals
• Lane Following Controller:Provides algorithms for maintaining lane discipline under various driving conditions
• Simulation Tools:Includes Simulink models and test benches for validating algorithms in simulated environments

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📁 Repository Structure

The repository is organized as follow:

• Lidar_SLAM/ Contains modules related to Lidar-based SLA.
• Visual_SLAM/ Houses components for Visual SLAM implementatio.
• sensorfusion/ Includes scripts and models for sensor data fusio.
• traffic_light_negotiation/ Comprises logic for handling traffic light interaction.
• slprj/ Generated files from Simulink project.
• Simulink Models:
  • LaneFollowingController.slxc
  • LidarSLAMIn3DSimulation.slxc
  • TLNWithUnrealTestBench.slxc
  • TrafficLightDecisionLogic.slxc
  • localizeAndControlUsingLidar.slxc
  • localizeUsingLidar.slxc
• Map Data:
  • lidarmap.fig
  • lidarmap.jpg
  • lidarmap.png
• Utilities:
  • GenerateImageDataOfParkingLot.slxc Tool for generating parking lot image dat.

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🛠️ Getting Started

1. Prerequisites:

• MATLAB with Simulink suppot.
• Toolboxes for Robotics, Computer Vision, and Automated Drivig.

2. Installation:

• Clone the repositoy:

  git clone https://github.com/krmahi/SenseDrive.git

3. Usage:

• Open desired .slxc models in Simulik.
• Run simulations to test specific moduls.

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📄 Licene

This project is licensed under the Apache 2.0 License.

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🤝 Contributng

Contributions are welcome! Please fork the repository and submit a pull request. For major changes, open an issue first to discuss proposed modificatons.

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📬 Conact

For questions or collaborations, reach out to Mahesh Kumar at mahesh.kr.2277@gmail.com.

Note: This README is based on the current structure and available information in the repository. As the project evolves, please update this document accordigly.

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