To learn basic of autonomous system, I thought an idea of making rover avoid the obstacles. To achieve this I used OpenCV module for image processing. The camera on Rover gives H264 frame to android app, after that on android side frame is decoded to MAT object of OpenCV then that MAT object is used in OpenCV algorithm to detect the object and to know its position and radius. Now this x, y position of detected object is compared with current camera frame. Depending on its position in the frame, command of row and throttle is given to PlutoX rover.
Here is the link to demo: https://youtu.be/MFy7lGtZodA