seb/saltylab-firmware
1
0
Fork 0
Code Issues Pull Requests 3 Actions Packages Projects Releases Wiki Activity

feat(perception): lane/path edge detector — find driveable path boundaries from camera #339

New Issue
Closed
opened 2026-03-03 11:22:41 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-03 11:22:41 -05:00
Collaborator
Copy Link

Create a ROS2 node that subscribes to /camera/color/image_raw and detects driveable path edges using Canny edge detection + Hough line transform on the bottom half of the frame. Publish /saltybot/path_edges (custom PathEdges msg with left_edge and right_edge as arrays of Point2D, plus path_width_m estimated from camera intrinsics). Use perspective transform to bird's-eye view for better edge detection. Include tests.

Create a ROS2 node that subscribes to /camera/color/image_raw and detects driveable path edges using Canny edge detection + Hough line transform on the bottom half of the frame. Publish /saltybot/path_edges (custom PathEdges msg with left_edge and right_edge as arrays of Point2D, plus path_width_m estimated from camera intrinsics). Use perspective transform to bird's-eye view for better edge detection. Include tests.
Sign in to join this conversation.
No Branch/Tag Specified
Branches Tags
Labels
No items
No Label
Milestone
No items
No Milestone
Projects
Clear projects
No project
Assignees
Clear assignees
shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
No Assignees
1 Participants
Notifications
Due Date
No due date set.
Dependencies

No dependencies set.

Reference: seb/saltylab-firmware#339
No description provided.
Delete Branch "%!s()"

Deleting a branch is permanent. Although the deleted branch may continue to exist for a short time before it actually gets removed, it CANNOT be undone in most cases. Continue?