localize a model car using colored lamp at roof
##calibration Steps:
-
find distortion_model of camera and calibrate camera (calibrate_camera package in ROS)
-
calibrate system to find desired colors (using cmvison package in ROS)
-
find the X and Y scale factors of image (real map / image)
##run steps:
-
read calibrated image (using usb_cam and image_proc packages in ROS)
-
find the colored lamps (using cmvison package in ROS)
-
filter the blobs and find the biggest one (using detect_roof_rectangles package in ROS)
-
use optimal rigid body algorithm and kalman filter to find the transformation between map and position of camera which defines the location of camera/car (using fake_gps package in ROS)