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Accurate Mapping and Planning for Autonomous Racing
(2020)2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)This paper presents the perception, mapping, and planning pipeline implemented on an autonomous race car. It was developed by the 2019 AMZ driverless team for the Formula Student Germany (FSG) 2019 driverless competition, where it won 1st place overall. The presented solution combines early fusion of camera and LiDAR data, a layered mapping approach, and a planning approach that uses Bayesian filtering to achieve high-speed driving on ...Conference Paper -
Redundant Perception and State Estimation for Reliable Autonomous Racing
(2019)2019 International Conference on Robotics and Automation (ICRA)Conference Paper -
Redundant Perception and State Estimation for Reliable Autonomous Racing
(2018)arXivWorking Paper -
Design of an Autonomous Racecar: Perception, State Estimation and System Integration
(2018)Proceedings of the 2018 IEEE International Conference on Robotics and Automation (ICRA)Conference Paper