This repository contains Mac OS X, Linux (Ubuntu 16), and Windows x64 standalone applications for OgmaDrive. OgmaDrive performs online machine learning using a predictive hierarchy applied to vehicle driving assistance (ADAS). The predictive hierarchy requires only a front-facing camera and steering angle as input. Which it then learns from, and predicts the next desired steering angle.
OgmaDrive uses the Unity engine, with custom C# scripts that create and use predictive hierarchies from two similar implementations. An initial menu allows the user to choose between the two predictive hierarchy implementations:
Each implementation provide a hands-free C# car controller script that follows a central spline around a procedurally generated track, the spline is used to initially assist in teaching the predictive hierarchy the relationship between desired steering angle and processed camera input. After the first lap, hierarchy prediction confidence metrics are used to determine when to alternate between further training or taking control and autonomously drive the vehicle. Using only the front-facing camera as input to the hierarchy, that then predicts the steering angle based on it's acquired knowledge.
Refer to the OgmaDrive repository for further implementation details, and the Unity project used to create the standalone version found in this repository.
The EOgmaNeo version has been optimized the most for this self-driving task, and is a SoC/Embedded system ready version. We currently use and test this implementation on a Raspberry Pi3 controlling an R/C car. Refer to the EOgmaDrive repository for further details. To see the R/C car in action using EOgmaNeo refer to the following YouTube video:
The OgmaNeo implementation assumes that your system has the appropriate graphics drivers with support for OpenCL v1.2 (and above).
The EOgmaNeo implementation requires that your system has SFML and OpenCV properly installed. On Windows system this also includes making sure that paths to the SFML and OpenCV DLL file directories are in your PATH environment variable.
The work in this repository is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.See the OGMADRIVEAPP_LICENSE.md and LICENSE.md file for further information.
Contact Ogma via licenses@ogmacorp.com to discuss commercial use and licensing options.
OgmaDriveApp Copyright (c) 2017 Ogma Intelligent Systems Corp. All rights reserved.