This is one of the projects I was involved in as a researcher in prof. Sertac Karaman’s group at MIT. We developed this autonomous forklift to aid human workers by performing warehouse operations such as picking up pallets and carrying them. I worked primarily on the perception software. The forklift uses cameras and wall tags to detect its global location and a laser scanner for object detection. For localization, we used Aruco markers. We used LCM as the message-passing system between processes.

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