ACTor Bumper Camera

ROS Package for stop line detection using a front bumper-mounted webcam.

Description

Uses binary thresholding to distiguish the white line from the dark roadway. Counts the white pixels in the image, and sends a boolean whether the number of white pixels exceeded some threshold value.

Requirements

Simple Camera Publisher

Topics

Publishers

• /bumper_camera/bumper_line_detected : std_msgs/Bool
  • Whether the number of white pixels exceeded the threshold value (a line was detected).
    
• /bumper_camera/debug_image : sensor_msgs/Image
  • A repub topic of the binary image (for debugging purposes).

Subscribers

• /bumper_camera/cam_pub/image_raw : sensor_msgs/Image
  • The image coming from the webcam.