How Google's Self-Driving Car Works 2012 IEEE
<p>Feb 24, 2012 06:07 PM has embedded vido.</p>
<p>
fleet of Toyota Priuses 190,000 miles
it has driverless golf carts on its campus...</p>
<p>
IEEE Intl Conf on Intel Robots and Ssytems in SF last month...</p>
<p>
with engr Chris Urmson...</p>
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Veoldyne 64-beam laser generates a 3d map of the enviro.
uses time of flight to get 3d map.</p>
<p>
car combines the laser measurements with hi-res maps of the world
to produce four difft types of data models
that allow it to avoid obstacles...</p>
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4 radars on the front and rear bumpers... to see fast traffic...
a gps and a wheel encoder</p>
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uses v detailed maps of the roads and terrain... gps not enuf...</p>
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google engineers first drive the road...
car compares that to now to different. pedestrians from poles and mailboxes.</p>
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my notes on the video...</p>
<p>
Velodyne 64 beam laser
3.5 megabit per second???
heart of the system</p>
<p>
? uses SLAM......</p>
<p>
he shows pedestrians and other objects that system sees.
build texture model of the world...</p>
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lane level methods</p>
<p>
4 types of data maps that it builds from the Velodyne data...
elevation model... mapped to 11 cm (resolution) ... the shape of the world..
.
statics map... compare what it is currently seeing to past drive thrus to see what is static and what is not....
where is the vehicle.... to subpixel resolution</p>
<p>
what is there all the time vs stuff that's moving... pedestrians, bicyclists and cars...
find moving things... globs that stick out in the world...
track every vehicle....
see traffic light... know where they are....</p>
<p>
use a prior prob. on the lane... but can slide around a cyclist if they need to (rather than slavishly
driving down the middle of the lane)
he shows it slowing and stopping for pedestrians...
intersection behavior....
(this is the hardest... deciding when to go eg at a four-way stop... it's really not like
what the vehicle manual recommends... rather, you go a bit to assert yourself, then continue.</p>
<p>
time of return.... 64 lasers;
looking all around the vehicle simultaneously;
175,000 miles with no accidents...</p>
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