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Scenarios

Simulation Groundtruth​

Idea: To write scenario algorithms without perception signals we can use groundtruth signals from the KITcar simulation.

Groundtruth RVIZ visualization​

You can visualize the KITcar simulation groundtruth in RVIZ. See section Simulation → rviz.

  • official simulation_groundtruth documentation: simulation_groundtruth
  • source code of the simulation_groundtruth package: in simulation/src/simulation_groundtruth/src/

Bounding Boxes​

You can publish groundtruth bounding boxes on a rostopic: see section Simulation → bounding-boxes

Barred Area​

  • idea: only need to know
    • where a barred area starts (→ sign detection → front coordinate of sign surface from Realsense camera)
    • where a barred area ends (→ YOLO gives a bounding box of the barred area markings → when YOLO stops detecting these markings then the barred area has ended)