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Recruiter brief
Robotics & autonomyNovember 2025

Robotics & Autonomous Driving

F1Tenth lane following

A camera-to-control pipeline for a F1Tenth ROS2 platform, with confidence-aware path selection and explicit stop behavior when vision has no usable path.

PythonROS2Computer visionPure pursuitOpenCVRealSenseHomography
AdaptationRank 04 of 5 in this field ↗
Why it sits here. Clear candidate contributions and physical-system reasoning, with narrower scope and unverified hardware outcomes.
01 / An open road. A closed loop.STUDY IN SPACE

THE QUESTION

What should a controller do when its input no longer describes a trustworthy path?

Connect camera-derived lane geometry to a control path while handling missing or stale perception.

PERCEPTION → CONTROL
cameravalid path?STOP

No trustworthy path.
An intentional response.

Concept diagram · not performance data

01 / IMPLEMENTATION & CONTRIBUTION

What the work involves

Donald added camera-based lane extraction, configurable image-to-robot coordinate conversion, confidence-aware path selection, and missing-path and lookahead stop behavior to an existing F1Tenth course workspace.

Technical depth

Pixel geometry must become robot-frame geometry. Confidence and age matter when choosing a path.

Data and assumptions

Camera lane features and ROS2 path messages. Physical track results were not verified.

Camera calibration, timestamps, and frame transforms must remain consistent. Configured speeds are targets, not measurements.

The project family

uiuc/ece484_f1_tenth_cr7_ws/f1_tenth_cr7_wsuiuc/ece484_f1_tenth_cr7_ws/f1tenth_ws

02 / THE EXPERIMENTAL RECORD

What the experiment taught

Missing paths and lookahead failures need explicit stop behavior rather than continued motion on stale information.

What changed

Safety fixes stop camera-only control when no valid path is available.

03 / RESULTS

What came out of it

A perception-to-control implementation that selects paths by confidence and freshness, then stops camera-only control when no usable path remains.

The lesson in the work

An unavailable perception result needs an intentional control response.

04 / SUPPORTING EVIDENCE

Follow the source

Implementation notes, project records, and supporting artifacts.

Source context & project scope

Existing UIUC Robotics/F1Tenth foundation with multiple contributors.

Nominal camera rates, control rates and speeds are configurations rather than measurements.

No claim of a completed physical track trial or real-world reliability.

Physical track performance is still unverified.

Donald’s verified additions to a shared, upstream F1Tenth course workspace.

Camera-only mode stops when no valid path is available.

SOURCE · 2025-11

Identifies the upstream base ROS2 workspace.

SOURCE · 2026-09-17

Camera extraction and homography-axis conversion; commits 83501d4 and 79dcab5 attribute additions to Donald.

SOURCE · 2026-09-17

Missing dynamic path and lookahead paths publish stop behavior; Donald safety-fix commits f751b48/f597280.

SOURCE · 2026-09-17

Pipeline design and initial validation boundaries.

SOURCE · 2026-09-17
CONTINUE IN ROBOTICS & AUTONOMOUS DRIVING

UR3 manipulation & vision labs