Autonomous Driving at TU München

Flashcards and summaries for Autonomous Driving at the TU München

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Examples of Data association methods

Exemplary flashcards for Autonomous Driving at the TU München on StudySmarter:

Example Scenario Classification and Prediction    

Exemplary flashcards for Autonomous Driving at the TU München on StudySmarter:

Diffraction

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Transmission

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Attenuation

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Absorption

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Scattering

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Reflection

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Refraction

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RRT - Weak completeness

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Holonomic vs Nonholonomic

Exemplary flashcards for Autonomous Driving at the TU München on StudySmarter:

Unstructured environments for path planning

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Exemplary flashcards for Autonomous Driving at the TU München on StudySmarter:

Autonomous Driving

Examples of Data association methods

– Clustering: Nearest Neighbors and K-means
– Probabilistic Data Association (PDA)

Autonomous Driving

Example Scenario Classification and Prediction    

– Use fused sensor data as input
– Choose Data Representation Format
– Label Data
– Generate additional data (stretch…)
– Choose Network Architecture
– Evaluate Network Performance

Autonomous Driving

Diffraction

Diffraction: Change of direction
and intensities of waves,
passing an obstacle or
an aperture with size
approximately the wavelength
of the waves.

Autonomous Driving

Transmission

Transmission: Propagating wave crosses from one medium
into another and is transmitted through the medium

Autonomous Driving

Attenuation

Attenuation describes all losses in signal intensity, including
scattering and absorption.

Autonomous Driving

Absorption

Absorption: Loss of energy of propagating wave while traveling through a medium. 

e.g. conversion into thermal energy in damping material (Ultrasound: foam ; Light: carbon black ) depends on depth , absorption coefficient)

Autonomous Driving

Scattering

Scattering: radiation such as light being forced to deviate from straight path due to localized non -uniformity in propagation medium. 

For example because of droplets or surface roughness (scattering centers)

Autonomous Driving

Reflection

Reflection: Change in direction of a wave, between
two different media, with outgoing angle equal to
the incident angle on the other side of the surfaces normal.

Autonomous Driving

Refraction

Refraction: wave crossing from one medium into
another, experiencing a change in direction, while
continuing to travel through the new medium .

Autonomous Driving

RRT - Weak completeness

•Resolution complete : if no solution exists, the algorithm will run forever. 

•Probabilistically complete : with infinite samples, the probability of finding an existing solution converges to one.

Autonomous Driving

Holonomic vs Nonholonomic

Holonomic system where a robot can move in any direction in the configuration space.

Nonholonomic systems are systems where the velocities (magnitude and or direction) and other derivatives of the position are constraint. History of states is needed in order to determine the current state.

Autonomous Driving

Unstructured environments for path planning

Example: Parking lot without pre – defined paths 

Large search space of possible paths 

Mostly high distance to obstacles, but optimal path can lead through bottlenecks

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