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some-udacity-projects

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Some of my projects as a former mentor, reviewer, and beta-tester of Robotics and Self-Driving Car ND

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# Some Udacity Projects

## Robotics Nanodegree Term 2 Beta Test
- Adaptive Monte-Carlo Localization
- Robotics Inference

## Intro to Self-Driving Car Review Submission
- Traffic Light Detector

## Rover
- Perception and Mapping: a "search, sample, and return project" with a virtual rover.

## Follow Me
- I used a fully-convolutional neural network to paint all pixels in an image which is part of a person. Two types of persons are identified, the “hero” target person, and everyone else.

## Behavioral Cloning
- [Cloning Driving Behavior with Keras and a Videogame-Like Simulator](https://medium.com/@mithi/cloning-driving-behavior-with-videogame-like-simulator-and-keras-e31129a8e3b6)

## Histogram Filter
- Localization using Histogram Filter Algorithm

## Perception PR 2
  - A catkin workspace in ROS where a virtual PR2 Robot with an RGBD camera perceives objects and places them on the appropriate dropbox.

## Point Cloud Recognition
  - A catkin workspace in ROS that capture features of objects and then train a classifier to correctly identify the objects
from a point cloud file.

## PID Toy
  - A small collection of toys to demonstrate PID control concepts.

# Related Projects
- [Particle Filters and Kidnapped Vehicle Project](https://github.com/mithi/particle-filter-prototype)
  - A particle-filter visualization in Python using Bokeh based on Udacity's free A.I. for Robotics course
  - A particle filter implementation to track a kidnapped robot.
- [Inverse Kinematics Arm](https://github.com/mithi/arm-ik)
  - An Inverse Kinematics 6DOF Robot Arm Pick and Place Project in ROS.
- [Point Cloud Filter](https://github.com/mithi/point-cloud-filter)
  - Scripts showcasing filtering techniques applied to point cloud data.
- [Point Cloud Clusters](https://github.com/mithi/point-cloud-clusters)
  - A catkin workspace in ROS which uses DBSCAN to identify which points in a point cloud belong to the same object.
- [Highway Path Planning](https://github.com/mithi/highway-path-planning)
  - My path-planning pipeline to navigate a car safely around a virtual highway with other traffic.
- [Model Predictive Control](https://github.com/mithi/mpc)
  - A software pipeline using the Model Predictive Control method to drive a car around a virtual track.
- [Semantic Segmentation](https://github.com/mithi/semantic-segmentation)
  - A Fully Convolutional Network (FCN) script to label the pixels of a road in images
- [Traffic Sign Classification](https://github.com/mithi/traffic-signs-classification)
  - A deep neural network to classify traffic signs, using TensorFlow.
- [Unscented Kalman Filter](https://github.com/mithi/fusion-ukf)
  - An unscented Kalman Filter implementation in C++ for fusing lidar and radar sensor measurements.
- [Extended Kalman Filter](https://github.com/mithi/fusion-ekf)
  - An extended Kalman Filter implementation in C++ for fusing lidar and radar sensor measurements.
- [Vehicle Tracking](https://github.com/mithi/vehicle-tracking-2)
  - A vehicle detection and tracking pipeline with OpenCV, histogram of oriented gradients (HOG), and support vector machines (SVM).
- [Advanced Lane Detection](https://github.com/mithi/advanced-lane-detection)
  - An advanced lane-finding algorithm using distortion correction, image rectification, color transforms, and gradient thresholding.

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