AI Concepts LLM typically refers to Large Language Model in the context of artificial intelligence and machine learning.It is a type of deep learning model trained on massive amounts of text data to understand and generate human-like language. Examples: GPT-4, Claude, Gemini, LLaMA, etc. Transformer is a deep learning architecture introduced by Vaswani et al….
Category: Autonomy
Localization & Mapping
Stay tuned for future updates! Types of Localization Types of Frame and Transformation Reference Where is the car with relation to a static reference frame (local or global map)? Where are static objects with relation to the car? Where are dynamic objects with relation to the car? Types of Localization (1) Global Localization Position relative…
Vehicle Interface & PACMod2
Stay tuned for future updates! The Vehicle Interface component provides an interface between Autoware and a vehicle that passes control signals to the vehicle’s drive-by-wire system and receives vehicle information that is passed back to Autoware. Vehicle Lateral Interface Longitudinal Interface Polaris GEM Vehicle steering angle/rate accel/brake pedal position Lexus steering angle accel/brake pedal position…
Sensing & Data Preprocessing
Stay tuned for future updates! LiDAR Preprocessing High-level Architecture Input Types LiDAR Preprocessing A minimum amount of information is needed to produce correct results. Preprocessing provides sufficient statistics for further algorithms. Remove noisy data from problematic areas Range & angle based filtering Ground filtering Remove redundant data Voxel grids or other downsampling Produce a single…
Comparison of ROS1 and ROS2
ROS1 vs ROS2 Architecture ROS2 is well-suited for a variety of applications, including navigation, security, embedded systems, real-time operations, safety-critical tasks, and robotic manipulation. Data Distribution Service (DDS) for ROS2 (1) An industry-standard communication system, a networking middleware (2) Data-Centric Publish-Subscribe (DCPS) system (3) Real-time machine-to-machine (middleware communication) (4) Uses Real-Time Publish-Subscribe (RTPS) pattern for…
Vehicle Accel/Brake Calibration
Stay tuned for future updates! Acceleration and Brake Map Calibration Raw Vehicle Command Converter Steer Offset Estimator Reference Acceleration and Brake Calibration (Polaris GEM Vehicles) accel_brake_map_calibrator Raw Vehicle Command Converter (Polaris GEM Vehicles) Steer Offset Estimator (Polaris GEM Vehicles) Reference [1] Autoware Universe Documentation , Link [2] Lochrie, Gabrielle, et al. “Anti-windup recursive least squares…
Dynamics & Control
Stay tuned for future updates! Pure Pursuit Lateral Controller (Kinematic Bicycle Model) Stanley Lateral Controller (Kinematic/Dynamic Bicycle Model) LQR Tracker with Feed Forward Term (Dynamic Bicycle Model) Model Predictive Control (Dynamic Bicycle Model) Coming more, stay tuned for future updates! Reference Vehicle Bicycle Model Kinematic Models: Kinematic models are simplifications of dynamic models that ignore…
Perception
Stay tuned for future updates! Camera Perception Radar Perception LiDAR Perception Sensor Fusion with LiDAR & Camera AutowareAuto High-level Architecture of Perception Component Camera Perception (Temporary Demo, AutowareClass2020) Recap: Camera Model \(D\): aperture diameter \(f\): focal length \(N\): aperture f-number (e.g., f/2.8, f/4) $$D = \frac{f}{N}$$ A larger aperture diameter (smaller N) allows more light…
ROS2 Software Stack Development
ROS2 Software Stack Development Sensing & Data Preprocessing Perception Localization & Mapping (SLAM/V-SLAM) Planning Dynamics & Control Vehicle Interface & PACMod2 Simulation ROS2 Resources ROS2 (Humble) Documentation ROS2 (Humble) Tutorials ROS2 (Humble) Demos ROS2 (Humble) Real-time Programming Autoware.Auto Resources The Autoware Foundation Autoware Documentation Autoware Documentation (Github) Autoware Universe Documentation Autoware (Github) Autoware.Universe (Github) Integrating…
Sensor Calibration
Stay tuned for future detailed updates! Top LiDAR and Front Camera Data Collection and Sensor Calibration Front LiDAR and Front Camera Data Collection and Sensor Calibration Reference [1] Autoware Calibration Toolkit Manual, Link [2] Yan, Guohang, et al. “Opencalib: A multi-sensor calibration toolbox for autonomous driving.” Software Impacts 14 (2022): 100393. Back to top of…