Team Name - VJTI Mech Minds

Shivraj Parle
Satej Koparde
Madhusudhan Kulkarni
 OFF-HIGHWAY
• Off-road vehicles face challenges like unstructured terrain, absence of road markings, unpredictable weather, and
obstacles (stones, trees, potholes), hindering automation.
• These vehicles used in construction, farming, mining, etc., encounter unique challenges, frequent sensor failures, and
an emphasis on safety due to the demanding operating conditions.

1 2 3 4
Technical Implemen- Validation Dependency
Concept tation

33.867 cm

The system is integrated into an off- To validate the concept, precise time- External dependencies include precise time-
Lidar and Stereo Classifiers road vehicle equipped with a Point Grey synchronization and calibration are essential for synchronization and calibration processes, where sensor
Bumblebee XB3 camera, scanning integrating LIDAR and stereovision data from data from various sources with different clocks, such as
Input data from LIDAR and stereo cameras are
LIDAR (SICK LMS111), and two varied sources. Calibration procedures laser data collected using ROS on an Ubuntu Linux
processed by separate classifiers and merged to
stereo configurations (0.12 m and 0.24 determined sensor positions relative to the computer and stereo data processed with C++ on a
produce a unified classification output.
m baselines), with the LIDAR vehicle. Scene reconstruction involved Windows laptop, are accurately time-stamped,
Furthermore, to enhance the solution, obstacles
generating an 80,000-point 3D point processing stereo and LIDAR data separately and synchronized through NTP, and aligned, while also
are categorized into three types: positive,
cloud in approximately 3 seconds combining results for accuracy. Terrain patches calibrating the position and orientation of sensors in
negative, and hanging. This dual approach of
through servo-controlled rotation and were classified as traversable or not using relation to the vehicle through Camera-LIDAR and
sensor fusion and obstacle categorization
ICP-based algorithms alignment. geometric features and a Mahalanobis distance- LIDAR-Vehicle calibration procedures to enable
significantly improves system performance and
based approach, with ongoing model updates for accurate data fusion and terrain classification.
functionality.
adaptability.