Fish eye camera based 3D local map reconstruction of a Stop tape placement and orientation on a floor. No global mapping.
Manual driving of differential drive by tracking the warning tape is based on the suggested variational target position and orientation.
Trajectory is described by the third order polynomial.
Single CPU core algorithm performance, no numeric optimizations, is 6 fps at 640 x 480 pixel resolution.
The heuristic optimization functional rule: a tape must be on the right and can become temporarily invisible.
The bottom box shows the actual local map from the top view. 1 pixel represents 1 centimeter.