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1 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai
Analytics for Autonomous Driving:
Large-scale sensor data processing
© Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai
ROS-Industrial Conference 2019
Jan Wiegelmann
2 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai
20 TB per day
3 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai
20 TB per day
4 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai
petabytes of data per day
Petabytes
of sensor
data and
simulation
results
🚨 Hard to collect quality data
🚨 Long running algorithms
🚨 Small throughput
🚨 No version control
🚨 Infrastructure complexity
© Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai
5 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai
https://openai.com/blog/ai-and-compute/
6 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai
https://www.youtube.com/watch?v=NGXZ-mYqyUo
7 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai
https://discourse.ros.org/t/working-with-large-ros-bag-files-on-hadoop-and-spark/2314
ros_hadoop
RosbagInputFormat is an open source
splittable Hadoop InputFormat for the
rosbag file format
Requirements
ROS installation on each node
Manual index extraction
HDFS and Spark installation
Release July 2017 with Apache 2.0
8 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai
ros_hadoop
RosbagInputFormat is an open source
splittable Hadoop InputFormat for the
rosbag file format under Apache 2.0
Requirements
ROS installation on each node
Manual index extraction
HDFS and Spark installation
Release July 2017 with Apache 2.0
https://discourse.ros.org/t/working-with-large-ros-bag-files-on-hadoop-and-spark/2314
9 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai
Testing and Validation Data Storage Research and Development
Perception
algorithm
Deployment
Petabytes
of sensor
data and
simulation
results
Data Center
in the cloud and on-premise
Autovia Analytics Platform
large-scale sensor data processing
Neural
network
Driving
function
Data
chunk
Data
chunk
Data
chunk
CI/CD
Data Access
© Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai
10 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai
Blob Storage
Autovia IO
Autovia IO
is a data access layer that enables
analytics apps to read bags
from local and cloud storage
Not needed
ROS installation
Data converting & copying
Supported platforms
AWS EMR
Azure HDInsight
GCP Dataproc
Databricks
Hadoop
Cloudera
Hortonworks
MapR
11 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai
Autovia IO: Load Rosbag
12 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai
Autovia IO: List connections
13 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai
Autovia IO: Filter “/oxford_gps/gps/vel” and plot data
14 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai
Filesystem Blob Storage
Autovia FS
Autovia FS
is a virtual filesystem that enables
all applications to read bags
from local and cloud storage
Not needed
ROS installation
Data converting & copying
Start filesystem
$ av fs /home/<username>/mnt
15 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai
Filesystem Blob Storage
Autovia FS
Autovia FS
is a virtual filesystem that enables
all applications to read bags
from local and cloud storage
Not needed
ROS installation
Data converting & copying
Start filesystem
$ av fs
/Users/<username>/mnt
16 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai
Filesystem Blob Storage
Autovia FS
Autovia FS
is a virtual filesystem that enables
all applications to read bags
from local and cloud storage
Not needed
ROS installation
Data converting & copying
Start filesystem
av.exe fs C:Users<username>mnt
17 | Autovia GmbH | 2019
Autovia IDE
For R&D engineers in automotive and aviation industry we built an analytics toolbox running as a managed service.
Autovia works on existing big data infrastructure, on bare metal or on top of existing Hadoop or Spark clusters. It can ingest
R&D data directly from HDFS, S3, Azure Data Lake or any other data source.
Autovia Cloud Service
Autovia Runtime
Autovia Workspace
Your
Algorithm
Your
Data
Your
Model
18 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai
Fast search at sensor level
Find the right scenarios for
development, testing and
validation
👍 Query results within seconds
👍 Search in raw sensor data
👍 OpenSCENARIO compatible
👍 Various data source support
👍 Find train & test data for AI
19 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai
Explore and validate data at sensor level
Test and see recorded
driving scenes
👍 Built-in 3D point cloud viewer
👍 Vision output after perception
👍 See sensor fusion results
👍 Metadata management
👍 Validate algorithms
20 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai
Thank you!
© Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai
Jan Wiegelmann
jan@autovia.ai
http://autovia.ai

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Analytics for Autonomous Driving with ROS

  • 1. 1 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai Analytics for Autonomous Driving: Large-scale sensor data processing © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai ROS-Industrial Conference 2019 Jan Wiegelmann
  • 2. 2 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai 20 TB per day
  • 3. 3 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai 20 TB per day
  • 4. 4 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai petabytes of data per day Petabytes of sensor data and simulation results 🚨 Hard to collect quality data 🚨 Long running algorithms 🚨 Small throughput 🚨 No version control 🚨 Infrastructure complexity © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai
  • 5. 5 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai https://openai.com/blog/ai-and-compute/
  • 6. 6 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai https://www.youtube.com/watch?v=NGXZ-mYqyUo
  • 7. 7 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai https://discourse.ros.org/t/working-with-large-ros-bag-files-on-hadoop-and-spark/2314 ros_hadoop RosbagInputFormat is an open source splittable Hadoop InputFormat for the rosbag file format Requirements ROS installation on each node Manual index extraction HDFS and Spark installation Release July 2017 with Apache 2.0
  • 8. 8 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai ros_hadoop RosbagInputFormat is an open source splittable Hadoop InputFormat for the rosbag file format under Apache 2.0 Requirements ROS installation on each node Manual index extraction HDFS and Spark installation Release July 2017 with Apache 2.0 https://discourse.ros.org/t/working-with-large-ros-bag-files-on-hadoop-and-spark/2314
  • 9. 9 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai Testing and Validation Data Storage Research and Development Perception algorithm Deployment Petabytes of sensor data and simulation results Data Center in the cloud and on-premise Autovia Analytics Platform large-scale sensor data processing Neural network Driving function Data chunk Data chunk Data chunk CI/CD Data Access © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai
  • 10. 10 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai Blob Storage Autovia IO Autovia IO is a data access layer that enables analytics apps to read bags from local and cloud storage Not needed ROS installation Data converting & copying Supported platforms AWS EMR Azure HDInsight GCP Dataproc Databricks Hadoop Cloudera Hortonworks MapR
  • 11. 11 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai Autovia IO: Load Rosbag
  • 12. 12 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai Autovia IO: List connections
  • 13. 13 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai Autovia IO: Filter “/oxford_gps/gps/vel” and plot data
  • 14. 14 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai Filesystem Blob Storage Autovia FS Autovia FS is a virtual filesystem that enables all applications to read bags from local and cloud storage Not needed ROS installation Data converting & copying Start filesystem $ av fs /home/<username>/mnt
  • 15. 15 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai Filesystem Blob Storage Autovia FS Autovia FS is a virtual filesystem that enables all applications to read bags from local and cloud storage Not needed ROS installation Data converting & copying Start filesystem $ av fs /Users/<username>/mnt
  • 16. 16 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai Filesystem Blob Storage Autovia FS Autovia FS is a virtual filesystem that enables all applications to read bags from local and cloud storage Not needed ROS installation Data converting & copying Start filesystem av.exe fs C:Users<username>mnt
  • 17. 17 | Autovia GmbH | 2019 Autovia IDE For R&D engineers in automotive and aviation industry we built an analytics toolbox running as a managed service. Autovia works on existing big data infrastructure, on bare metal or on top of existing Hadoop or Spark clusters. It can ingest R&D data directly from HDFS, S3, Azure Data Lake or any other data source. Autovia Cloud Service Autovia Runtime Autovia Workspace Your Algorithm Your Data Your Model
  • 18. 18 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai Fast search at sensor level Find the right scenarios for development, testing and validation 👍 Query results within seconds 👍 Search in raw sensor data 👍 OpenSCENARIO compatible 👍 Various data source support 👍 Find train & test data for AI
  • 19. 19 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai Explore and validate data at sensor level Test and see recorded driving scenes 👍 Built-in 3D point cloud viewer 👍 Vision output after perception 👍 See sensor fusion results 👍 Metadata management 👍 Validate algorithms
  • 20. 20 © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai Thank you! © Autovia GmbH 2019 | Confidential & Proprietary | www.autovia.ai Jan Wiegelmann jan@autovia.ai http://autovia.ai