04. Archives/자율주행
[자율주행 스터디] Introduction to Self-Driving cars - Week 2-4
해 콩
2020. 9. 10. 19:00
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Week 2 - Self-Driving Hardware and Software Architectures
Course info.
- https://www.coursera.org/learn/intro-self-driving-cars?
- UNIVERSITY OF TORONTO
Lesson 4 : Environment Representation
Contents
- Environmental Map Types
Environmental Map Types
- Localization of the vehicle in the environment
- Localization point cloud or feature map
- to accurately estimate the precise position of vehicle at all time
- Collects continuous sets if Lidar
- The difference between Lidar maps is used to calculate the movement of the autonomous vehicle
- to accurately estimate the precise position of vehicle at all time
- Localization point cloud or feature map
- Collision avoidance with static objects
- Ocuupancy grid map
- to plan safe collision free path
- Discretized fine grain grid map
- Can be 2D or 3D
- Occupancy by a static object
- Trees and buildings
- Curbs and other non-drivable surfaces
- Dynamic objects are removed
- Discretized fine grain grid map
- to plan safe collision free path
- Ocuupancy grid map
- Path planning
- Detalid road map
- to plan path current position to destination
- Fully online (어려움)
- Fully offline (Collecting data several times)
- Created offline and updated online
- to plan path current position to destination
- Detalid road map
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