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Project: Search and Sample Return

Writeup Template: You can use this file as a template for your writeup if you want to submit it as a markdown file, but feel free to use some other method and submit a pdf if you prefer.

The goals / steps of this project are the following:

Training / Calibration

  • Download the simulator and take data in "Training Mode"
  • Test out the functions in the Jupyter Notebook provided
  • Add functions to detect obstacles and samples of interest (golden rocks)
  • Fill in the process_image() function with the appropriate image processing steps (perspective transform, color threshold etc.) to get from raw images to a map. The output_image you create in this step should demonstrate that your mapping pipeline works.
  • Use moviepy to process the images in your saved dataset with the process_image() function. Include the video you produce as part of your submission.

Autonomous Navigation / Mapping

  • Fill in the perception_step() function within the perception.py script with the appropriate image processing functions to create a map and update Rover() data (similar to what you did with process_image() in the notebook).
  • Fill in the decision_step() function within the decision.py script with conditional statements that take into consideration the outputs of the perception_step() in deciding how to issue throttle, brake and steering commands.
  • Iterate on your perception and decision function until your rover does a reasonable (need to define metric) job of navigating and mapping.
  • Note: running the simulator with different choices of resolution and graphics quality may produce different results! Make a note of your simulator settings in this writeup when you submit the project. [//]: # (Image References)

Rubric Points

Here I will consider the rubric points individually and describe how I addressed each point in my implementation.

Writeup / README

1. Provide a Writeup / README that includes all the rubric points and how you addressed each one. You can submit your writeup as markdown or pdf. Here is a template writeup for this project you can use as a guide and a starting point.

You're reading it!

First Rubric Item

alt text

Pipeline (single images)

1. Provide an example of a

alt text

2. Describe how (and identify where in your code) you used color thresholds to create a thresholded binary image. Provide an example of a binary image result.

I used a combination of color thresholds to generate a binary image (thresholding steps at lines # through # in another_file.py). Here's an example of my output for this step.

alt text

3. Describe how (and identify where in your code) you performed a perspective transform

Discussion

1. Briefly discuss any problems / issues you faced in your implementation of this project. Where will your pipeline likely fail? What could you do to make it more robust?

Here I'll talk about the approach I took, what techniques I used, what worked and why, where the pipeline might fail and how I might improve it if I were going to pursue this project further.