These past two weeks were almost completely spent writing the Chapters 2, 3 and 4 of the dissertation.
Despite this in this week, with the help of the colleague Pedro B. Nova, responsible for the global navigation of the AtlasCar 2, the road edge detection package was integrated with the mapviz application used by Pedro. The processe involve a slight tweak to the frame tree so as to receive the position from the node published by global navigation node.
The integration allows to overlap the road edge point cloud and the satellite map provided by the map viz application, and provides a way do qualitatively evaluate the accuracy of the boundary detection method. The images bellow show some of the obtained results.
From these results we can see that the detection is pretty accurate and the resulting point cloud almost always overlaps the borders represented on the image. It even detects the two platforms on the same side (to the right), near Complexo Pedagógico.
There are still some outlier points that need to be removed but overall the quality of the road limits detection is very good.