- Define Source,Destination points for perspective transformation
- Apply Perspective Transform --> Warped
- Apply thresholding
- identify Navigable terrian
- identify obstacles
- identify Rock saples
- Update Vision image (dispalyed on left side)
- channel 0: obstacles threshold *255
- channel 1: rock sample threshold*255
- channel 2: nav-terrian threshold *255
- Convert image pixels to Rover-centric coordinates for nav-terrain,obstacles,rocks
- Convert Rover-centric Coordinates to world map coordinates
- Rotation
- Translation with Scale
- convert Rover-centric Coordinates to polar coordiantes to get Angles,distances for nav-terrain,obstacles,rocks
- update Rover world map (dispalyed on Right side)
- channel 0: obstacles
- channel 1: rock sample
- channel 2: nav-terrian
- Clear low certainty nav-terian pixels perodically(channel 2)
can be divided into two parts
1- Dealing with normal states
2- Dealing with special states
- Normal states like ['forward movement', 'stop'].
- Other special states like ['sample detected', 'stuck in a loop', 'stuck by an obstacle', etc...]