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Multimedia Platform Pada Autonomous Driving ( Studi Kasus pada “The KITTI Vision Benchmark Suite”). Introduction.

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multimedia platform pada autonomous driving studi kasus pada the kitti vision benchmark suite

Multimedia Platform Pada Autonomous Driving( StudiKasuspada “The KITTI Vision Benchmark Suite”)

introduction
Introduction
  • Mengembangkan autonomous systemsyang mampu membantu manusia dalam tugas sehari-hari adalah salah satu tantangan besar dalam computer science modern. Salah satu contoh adalah otonom sistem yang dapat membantu mengurangi kematian yang disebabkan mengemudi oleh kecelakaan lalu lintas. Berbagai sensor baru memiliki telah digunakan dalam beberapa tahun terakhir untuk tugas-tugas seperti recognition,navigation dan manipulation of objects.Autonomous driving systems sebagian besar mengandalkan GPS, laser

range finders, radar dan peta .

sensor setup
Sensor Setup
  • 1 Inertial Navigation System (GPS/IMU): OXTS RT 3003
  • 1 Laserscanner: Velodyne HDL-64E
  • 2 Grayscale cameras, 1.4 Megapixels: Point Grey Flea 2 (FL2-14S3M-C)
  • 2 Color cameras, 1.4 Megapixels: Point Grey Flea 2 (FL2-14S3C-C)
  • 4 Varifocal lenses, 4-8 mm: Edmund Optics NT59-917
conclussion
Conclussion
  • Platform autonomous driving dengan standard station wagon denganduawarna color dandua grayscale PointGrey Flea2 video cameras (10 Hz, resolution: 1392×512 pixels, opening: 90◦ ×35◦), Velodyne HDL-64E 3D laser scanner (10 Hz, 64 laser beams, range: 100 m), GPS/IMU localization dengan RTK correction signals (open sky localization errors < 5 cm) dan powerful computer running sebagai real-time database.
  • Sensor kalibrasiyang dilakukan Camera-to-Camera calibration, Velodyne-to-Camera calibration dan GPS/IMU-to-Velodyne calibration.
  • Untukpengembanganakandilakukantermasuk visual SLAM dengan loop-closure capabilities, object tracking, segmentation, structure-from-motion dan 3D scene understanding.