Autonomous Driving Lab - Simultaneous Localization and Mapping WP
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Presentation of simultaneous localization and mapping problem in the framework of self-driving. Autonomous Driving Lab project is carried out by University of Tartu in collaboration with Bolt company.
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Autonomous Driving Lab - Simultaneous Localization and Mapping WP
- 1. Autonomous Driving Lab Anne Jääger Dmytro Fishman Vladyslav Fediukov Tambet Matiisen Maksym Semikin Jan Aare van Gent
- 8. GPS (GNSS)
- 13. The direct route to Stradbroke Island
- 14. GPS (GNSS) So we need a way to “look” outside the window
- 16. 6 cameras to create 360 degree view
- 21. 33 33 54 33 15 21 12 34 54 33 11 32 12 9832 33 1554 32 21 21 74 5429 64 74 5429 64 12 32 54 33 54 12 23 33 15 21 98 74 32 54 12 34 43 54 23 33 54 33 12 29 11 32 21 34 34 64 23 33 15 21 98 74 32 54 12 34 43 54 23 33 54 33 12 29 11 32 21 34 34 64 11 32 21 34 23 33 15 32 54 11 32 21
- 30. 32-beam LiDAR
- 33. 11 12 11 23 18 1617 2322 27 27 28 33 32 34 40 39 39 47 45 46 51 51 50 13 17 24 28 34 39 50 46 13 17 24 39 46 50 28 34 13 17 24 39 46 50 28 34
- 35. Inertial Measurement Unit (IMU)
- 36. Inertial Measurement Unit (IMU) Measures acceleration in all axes and rotational components
- 37. Inertial Measurement Unit (IMU) Measures acceleration in all axes and rotational components ForwardBack
- 38. Inertial Measurement Unit (IMU) Measures acceleration in all axes and rotational components ForwardBack Left Right
- 39. Inertial Measurement Unit (IMU) ForwardBack Left Right Down Up Measures acceleration in all axes and rotational components
- 40. Inertial Measurement Unit (IMU) Measures acceleration in all axes and rotational components
- 41. Inertial Measurement Unit (IMU) Measures acceleration in all axes and rotational components Roll
- 42. Inertial Measurement Unit (IMU) Measures acceleration in all axes and rotational components Roll Yaw
- 43. Inertial Measurement Unit (IMU) Measures acceleration in all axes and rotational components Roll Yaw Pitch
- 44. Inertial Measurement Unit (IMU) Measures acceleration in all axes and rotational components Roll Yaw Pitch 6-DOF (degrees of freedom) Forward Back Left Right Down Up
- 45. 32-beam LiDAR
- 47. 6 cameras to create 360 degree view
- 50. Sensors Self-Driving Pipeline Based on architecture of AutoWare: https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/Overview
- 51. GPS Sensors Camera(s) LiDAR IMU Self-Driving Pipeline Based on architecture of AutoWare: https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/Overview Radar
- 52. GPS Sensors Camera(s) LiDAR IMU Self-Driving Pipeline Self-Driving System Computing Based on architecture of AutoWare: https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/Overview Radar
- 53. GPS Sensors Camera(s) LiDAR IMU Steering commands Breaking & accelerating Control Self-Driving Pipeline Self-Driving System Computing Based on architecture of AutoWare: https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/Overview Radar
- 54. GPS Sensors Camera(s) LiDAR IMU Steering commands ControlComputing Self-Driving Pipeline Localization Detection Breaking & accelerating Based on architecture of AutoWare: https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/Overview Decision making Radar Prediction
- 55. GPS Sensors Camera(s) LiDAR IMU Steering commands ControlComputing Self-Driving Pipeline Detection Breaking & accelerating Based on architecture of AutoWare: https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/Overview Decision making Radar Prediction Localization
- 56. GPS Sensors Camera(s) Radar LiDAR IMU Steering commands Decision making ControlComputing Self-Driving Pipeline Breaking & accelerating Based on architecture of AutoWare: https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/Overview Detection Prediction Localization
- 57. GPS Sensors Camera(s) Radar LiDAR IMU Steering commands Decision making ControlComputing Self-Driving Pipeline Breaking & accelerating Based on architecture of AutoWare: https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/Overview Detection Prediction Localization
- 58. GPS Sensors Camera(s) Radar LiDAR IMU Steering commands Decision making ControlComputing Self-Driving Pipeline Breaking & accelerating Based on architecture of AutoWare: https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/Overview HD maps Detection Prediction Localization
- 59. GPS Sensors Camera(s) Radar LiDAR IMU Steering commands Decision making ControlComputing Self-Driving Pipeline Detection Breaking & accelerating Based on architecture of AutoWare: https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/Overview HD maps Prediction Localization
- 61. x y z
- 62. x y z
- 63. x y z
- 64. x y z
- 65. x y z
- 66. x y z
- 67. x y z
- 68. x y z
- 70. GPS Sensors Camera(s) LiDAR IMU Steering commands Decision making ControlComputing Self-Driving Pipeline Detection Breaking & accelerating Based on architecture of AutoWare: https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/Overview Radar Prediction Localization
- 71. GPS Sensors Camera(s) LiDAR IMU Steering commands Decision making ControlComputing Self-Driving Pipeline Detection Breaking & accelerating Based on architecture of AutoWare: https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/Overview HD maps Radar Prediction Localization
- 72. GPS Sensors Camera(s) Radar LiDAR IMU Steering commands Decision making ControlComputing Self-Driving Pipeline Breaking & accelerating Based on architecture of AutoWare: https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/Overview HD maps Detection Prediction Localization
- 73. x y z
- 74. The new location is unknown
- 75. The new location is unknown Our goal is to find vehicle on the map
- 76. The new location is unknown Our goal is to find vehicle on the map x y z
- 77. x y z The new location is unknown Our goal is to find vehicle on the map
- 78. x y z The new location is unknown Our goal is to find vehicle on the map Looking for an overlap
- 79. x y z The new location is unknown Our goal is to find vehicle on the map Looking for an overlap
- 80. x y z The new location is unknown Our goal is to find vehicle on the map Lookingfor anoverlap
- 81. x y z The new location is unknown Our goal is to find vehicle on the map Lookingfor anoverlap
- 82. x y z The new location is unknown Our goal is to find vehicle on the map Lookingfor anoverlap
- 83. x y z The new location is unknown Our goal is to find vehicle on the map Lookingfor anoverlap
- 84. x y z The new location is unknown Our goal is to find vehicle on the map Match has been found
- 85. x y z The new location is unknown Our goal is to find vehicle on the map
- 86. x z Localization - figuring out location of the vehicle with respect to map that has been already collected
- 87. GPS Sensors Camera(s) LiDAR IMU Steering commands Decision making ControlComputing Self-Driving Pipeline Breaking & accelerating Based on architecture of AutoWare: https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/Overview HD maps Radar Detection Prediction Localization
- 88. GPS Sensors Camera(s) Radar LiDAR IMU Steering commands Decision making ControlComputing Self-Driving Pipeline Detection Breaking & accelerating Based on architecture of AutoWare: https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/Overview HD maps Prediction Localization
- 90. LiDAR
- 91. Radar LiDAR
- 94. Radar LiDAR Camera(s) Right lane Vehicles on the road Current lane
- 95. Radar LiDAR Camera(s) Right lane Vehicles on the roadTraffic signs Current lane
- 96. Radar LiDAR Camera(s) Current lane Right lane Vehicles on the roadTraffic signs Pedestrians
- 97. GPS Sensors Camera(s) LiDAR IMU Steering commands Decision making ControlComputing Self-Driving Pipeline Breaking & accelerating Based on architecture of AutoWare: https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/Overview HD maps Radar Detection Localization Prediction
- 98. GPS Sensors Camera(s) LiDAR IMU Steering commands Decision making ControlComputing Self-Driving Pipeline Breaking & accelerating Based on architecture of AutoWare: https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/Overview HD maps Radar Detection Prediction Localization
- 99. x z
- 100. x z
- 101. x z
- 102. x z
- 103. x z
- 104. x z
- 105. x z
- 106. x z
- 107. x z
- 108. x z
- 109. x z
- 110. x z Prediction - predict the future trajectories of moving objects
- 111. GPS Sensors Camera(s) LiDAR IMU Steering commands Decision making ControlComputing Self-Driving Pipeline Breaking & accelerating Based on architecture of AutoWare: https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/Overview HD maps Radar Detection Prediction Localization
- 112. GPS Sensors Camera(s) LiDAR IMU Steering commands Decision making ControlComputing Self-Driving Pipeline Breaking & accelerating Based on architecture of AutoWare: https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/Overview HD maps Radar Detection Prediction Localization
- 114. if is_tree == True: stop else: move
- 115. GPS Sensors Camera(s) LiDAR IMU Steering commands Decision making ControlComputing Self-Driving Pipeline Breaking & accelerating Based on architecture of AutoWare: https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/Overview HD maps Radar Detection Prediction Localization
- 116. GPS Sensors Camera(s) LiDAR IMU Steering commands Decision making ControlComputing Self-Driving Pipeline Breaking & accelerating Based on architecture of AutoWare: https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/Overview HD maps Radar Detection Prediction Localization
- 128. To keep roads maps updated we can use multiple vehicles with cheap sensors
- 129. LiDAR Camera(s)
- 131. GPS Sensors Camera(s) LiDAR IMU Steering commands ControlComputing Self-Driving Pipeline Breaking & accelerating Based on architecture of AutoWare: https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/Overview HD maps Radar Deep Neural Network
- 132. GPS Sensors Camera(s) LiDAR IMU Steering commands ControlComputing Self-Driving Pipeline Breaking & accelerating Based on architecture of AutoWare: https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/Overview HD maps Radar End-to-end Deep Neural Network
- 137. GPS Sensors Camera(s) LiDAR IMU Steering commands ControlComputing Self-Driving Pipeline Breaking & accelerating Based on architecture of AutoWare: https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/Overview HD maps Radar End-to-end Deep Neural Network
- 139. GPS Sensors Camera(s) LiDAR IMU Steering commands ControlComputing Self-Driving Pipeline Breaking & accelerating Based on architecture of AutoWare: https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/Overview HD maps Radar End-to-end Deep Neural Network
- 140. comma.ai
- 141. GPS Sensors Camera(s) LiDAR IMU Steering commands ControlComputing Self-Driving Pipeline Breaking & accelerating Based on architecture of AutoWare: https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/Overview HD maps Radar End-to-end Deep Neural Network