Self-Driving-Car Nanodegree @ Udacity
Here is my collection of repositories containing my solution to each SDCND projects.
📚 Term 1 - Computer Vision & Deep Learning
The first term was focused on Computer Vision and Convolutional Neural Networks. Having experience in Machine Learning before the start of this program
✏️ Project 1 - Lane Lines Detection
✏️ Project 2 - Traffic Sign Classifier
✏️ Project 3 - Behavior Cloning
✏️ Project 4 - Advanced Lane Finding
✏️ Project 5 - Vehicle Detection & Tracking
📚 Term 2 - Sensor Fusion, Control and Localization
The second term of this NanoDegree was focused on Sensor Fusion, Control and Localization. I believe that these are the domains that are crucial today to develop ADAS systems that are going to increase driving safety significantly.
✏️ Project 6 - Extended Kalman Filter
The Kalman Filters course was a great reminder from University. After the Extended Kalman Filter lesson, I applied one to the Sensor Fusion problem that face AVs. To navigate an uncertain and always evolving environment, AVs must receive data from different sensors types which are complementary to each other. The sensors provide data in different formats and each have their advantages and drawbacks.
Have a look at that project writeup here.
✏️ Project 7 - Unscented Kalman Filter
More about my implementation of the UKF here.
✏️ Project 8 - Kidnapped Vehicle
✏️ Project 9 - PID Controller
✏️ Project 10 - Model Predictive Control
📚 Term 3 - Path Planning, Systems & Integration
✏️ Project 11 - Path Planning
For this project Udacity provided us with a simulator where I can control a car on a highway, the goal being to plan a smooth and accident free path with regard to the other cars on the road. The simulator provides data about the surrounding cars as well as data about the map. I build my path planner by assembling together the following 3 essential modules of a Self-Driving Car:
- Behavior Planner
- Trajectory Generator
- Predictor
Check out how I managed to successfully complete this project here.
✏️ Project 12 - Functional Safety
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✏️ Project 13 - System Integration
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