Building a Winning Self-Driving Car in Six Months
| Autor: | Mona Gridseth, Zachary Kroeze, Qiyang Li, Chengzhi Winston Liu, Sepehr Samavi, Angela P. Schoellig, Keenan Burnett, Andreas Schimpe |
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| Rok vydání: | 2018 |
| Předmět: |
FOS: Computer and information sciences
050210 logistics & transportation 0209 industrial biotechnology Computer science business.industry 05 social sciences 02 engineering and technology Visualization Computer Science - Robotics 020901 industrial engineering & automation Self driving 0502 economics and business Systems architecture Software engineering business Robotics (cs.RO) |
| Zdroj: | ICRA |
| DOI: | 10.48550/arxiv.1811.01273 |
| Popis: | The SAE AutoDrive Challenge is a three-year competition to develop a Level 4 autonomous vehicle by 2020. The first set of challenges were held in April of 2018 in Yuma, Arizona. Our team (aUToronto/Zeus) placed first. In this paper, we describe our complete system architecture and specialized algorithms that enabled us to win. We show that it is possible to develop a vehicle with basic autonomy features in just six months relying on simple, robust algorithms. We do not make use of a prior map. Instead, we have developed a multi-sensor visual localization solution. All of our algorithms run in real-time using CPUs only. We also highlight the closed-loop performance of our system in detail in several experiments. Comment: This work has been submitted to ICRA 2019 |
| Databáze: | OpenAIRE |
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