Livrables
The deliverable provides a report on the detailed specification of the perception goals and of the sensorial model of the environment. It also describes the sensors selection and their optimal setup configuration for obtaining a robust and redundant perception solution for each individual perception task – in alignment with the system-wide specification of WP1.
Software specification and architecture for the decision making and navigationThis deliverable will provide the general architecture of the navigation stack. It will list all software components involved in the decision making and navigation processes, the interfaces between them as well as to components from other work packages. It will also provide approaches identified to be pursued in the project.
Second development and integration cycle of scene understandingThe deliverable covers the second development and integration cycle and reports on current state of all tasks within the Work Package.. It will report details statistical insights on semantic aspects of urban scenes (e.g. parking lot usage). It will furthermore consist of software modules able to extract said information from the map representation of WP5. It will also provide a report and a software able to analyze the ego-behavior and synthesize it in terms of high level representation.
Initial version of low-level perception functionsThe deliverable provides first a report and code on the design and implementation evaluation of the spatio-temporal and appearance based low level representation. It provides also a report and code on the perception adaptation to adverse visibility conditions functions and their design, implementation and evaluation.
Periodic status report period 2The deliverable provides a technical report on the overall status of the project every period. The second report will describe the status of the the first iteration of specifications and integration and evaluation, as well as the advancements reached in each WP.
First development and integration cycle of lifelong mappingThis deliverable describes the lifelong mapping framework after the first development & Integration cycle. All components, notably the metric and semantic map, the metric online localization, the semantic data aggregation and the map summarization are functional and integrated on the vehicles, fulfill their basic purposes and interact with each other in a limited fashion. All components deliver first evaluation results.
Final version of higher-level perception functionsThe deliverable provides a report and code on the road perception, terrain mapping, road users and signaling perception functions and their design, implementation and evaluation. It also provides sensor fusion based perception refinement and environment model design, implementation and evaluation.
Initial version of higher-level perception functionsThe deliverable provides a report and code on the road perception, terrain mapping, road users and signaling perception functions and their design, implementation and evaluation. It also provides sensor fusion based perception refinement and environment model design, implementation and evaluation.
Software specification and architecture for scene understandingIn this report detailed input and outputs of scene understanding will be produced. Input will include the specific interfaces from other Work Packages. Outputs will define the format of the data produced to detect the current scene and predict the expected behavior of traffic occupants. Also the Interfaces between the individual modules involved into scene understanding will be provided.
Specification of the map frontend and storage conceptThis deliverable consists of all software and hardware specifications related to the mapping frontend and the internal map storage concept as described in Task 5.1 and Task 5.3, as well as a concept on how data is to be exchanged between the vehicles and the mapping backend.
Final version of low-level perception functionsThe deliverable provides first a report and code on the design and implementation evaluation of the spatio-temporal and appearance based low level representation. It provides also a report and code on the perception adaptation to adverse visibility conditions functions and their design, implementation and evaluation.
First development and integration cycle of decision making and navigationThis deliverable will provide a detailed explanation of the individual modules involved into the decision making and navigation processes. By this time the full software stack is expected to be functional with tasks such as route planning, trajectory control being in a state only requiring minor updates. The deliverable will report first results gained both in simulation as well as with the real car system. Most importantly it will provide results from automated driving trials performed with the first version of the full system as expected for MS3. The deliverable will be in form of a technical report or a publication.
Periodic status report period 3The deliverable provides a technical report on the overall status of the project every period. The third report will describe the status of the the second iteration of specifications and integration and evaluation, as well as the advancements reached in each WP.
First development and integration cycle of scene understandingThe deliverable covers the first development and integration cycle and reports on current state of all Tasks within theWork Package. This report details statistical insights on semantic aspects of urban scenes (e.g. parking lot usage). It will furthermore consist of software modules able to extract said information from the map representation of WP5. It will also provide an exhaustive list of urban driving scenario and their characteristics. It will furthermore consist of software modules able to profile the road user behavior in terms of dynamic and predicted intentions.
Final dissemination reportA report about achieved dissemination and exploitation activities.
First vehicle platform fully operationalThis document will mark the completion of the first vehicle platform and its full utility for the consecutive Work Packages. Specifically, it will document the calibration as well as data integrity validation of the sensors (including the reference sensors). It will also present relevant features of the high-level maintenance framework. Furthermore, it will contain a short report on communication capabilities (bandwidth, latency, etc., measured under good conditions). Last but not least: it will explain the safety elements and precautions.
Second development and integration cycle of cloud infrastructureThis deliverable describes the cloud infrastructure framework after the second development and integration cycle. All components mentioned in D3.2 including the final, horizontally scaled hardware stack, the updated development and deployment toolchain, the updated and iterated communication framework and the extended bulk data storage service have reached full maturity and adhere to the specifications and quality goals defined in this work package. Interaction between the components is seamless and according to specification. The deliverable contains the results of the module's final performance evaluation.
Periodic status report period 1The deliverable provides a technical report on the overall status of the project every period. The first report will describe the status of the specifications, as well as the advancements reached in each WP.
Second vehicle platform fully functionalThis deliverable will document the full utility of the second vehicle platform analogously to Deliverable D2.2.
Development infrastructureA report documenting access to running instances of both the project-internal development repository and the public open-access repository together with issue-tracking and wiki support.
Integration and test tools and processesA report describing the integration tools and processes available.
Initial dissemination reportA report about achieved dissemination and exploitation activities.
Evaluation report on integration process and results of second development cycleA report on the conducted evaluation of the overall system and its performance. A report about the conducted integration activities, problems and resolutions as well as a summary of the integration weeks and related activities.
First vehicle platform availableThis deliverable will mark the completion of the hardware and low level software of the first vehicle platform. It will include a vehicle manual with photos of all relevant hardware elements. This will be accompanied by figures and short descriptions of basic features of the communication, acquisition and processing framework. It will further provide a dataset including data from all sensors and a report with figures of visualized raw data. Finally it will provide a video demonstrating drive by wire operation using a gamepad / keyboard.
First development and integration cycle of cloud infrastructureThis deliverable describes the cloud infrastructure framework after the first development and integration cycle. All components, including the initial hardware stack, the development and deployment toolchain, the communication framework and the bulk data storage service are functional and fulfill their basic purpose. All components deliver first implementation results.
Second development and integration cycle of lifelong mappingThis deliverable describes the final lifelong mapping framework after the second development & Integration cycle. All components, as mentioned in deliverable D 5.2 above, are functional and integrated on the vehicles, have reached full maturity and adhere to the specifications and quality goals defined in this work package. Interaction between the components is seamless and according to specification. The deliverable contains the results of each module’s final performance evaluation.
Evaluation report on integration process and results of first development cycleA report on the conducted evaluation of the overall system and its performance. A report about the conducted integration activities, problems and resolutions as well as a summary of the integration weeks and related activities.
Second vehicle platform availableResponsible beneficiary: VW This deliverable will document the availability of the second vehicle platform analogously to Deliverable D2.1.
Initial specification and design of on-board sensingThe deliverable provides a report on the detailed specification of the perception goals and of the sensorial model of the environment. It also describes the sensors selection and their optimal setup configuration for obtaining a robust and redundant perception solution for each individual perception task – in alignment with the system-wide specification of WP1.
Second development and integration cycle of decision making and navigationThis deliverable will provide a detailed explanation of the individual modules involved into the decision making and navigation processes as well as their evaluation. By this time the full software stack is expected to be fully functional with modules such as tactical and trajectory planning as well as mission executive able to handle all relevant scenarios. The deliverable will report results gained in simulation and with the real car system. It is also expected that the system will be well integrated with other work packages so the deliverable will provide results from automated driving trials performed with the full integrated system. The deliverable will be in form of a technical report or a publication.
A public demonstration with press representatives showcasing the final result of the project and the impact on the society.
Press videoA press video motivating the aims of the project, and showcasing the scientific results, and the impact on society.
Brochure, newsletterA nicely laid out brochure at M16 to inform the public about the project and its main objectives and content. A knowledge management report will be provided to keep internal and external experts informed about new knowledge or patents created in the project.
Mid-term demonstrationAn internal demonstration (optionally with press representatives) showcasing the final result of the project and the impact on the society.
Project Web-pageThe website including a public document database will be operational from month 2 on. It will be updated continuously during the project.
Publications
Auteurs:
Vlad-Cristian Miclea, Sergiu Nedevschi
Publié dans:
2017 IEEE Intelligent Vehicles Symposium (IV), 2017, Page(s) 1795-1802, ISBN 978-1-5090-4804-5
Éditeur:
IEEE
DOI:
10.1109/IVS.2017.7995967
Auteurs:
Arthur D. Costea, Sergiu Nedevschi
Publié dans:
2017 IEEE Intelligent Vehicles Symposium (IV), 2017, Page(s) 74-81, ISBN 978-1-5090-4804-5
Éditeur:
IEEE
DOI:
10.1109/IVS.2017.7995701
Auteurs:
Andra Petrovai, Arthur D. Costea, Sergiu Nedevschi
Publié dans:
2017 IEEE Intelligent Vehicles Symposium (IV), 2017, Page(s) 448-455, ISBN 978-1-5090-4804-5
Éditeur:
IEEE
DOI:
10.1109/IVS.2017.7995759
Auteurs:
Arthur Daniel Costea, Robert Varga, Sergiu Nedevschi
Publié dans:
2017 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2017, Page(s) 993-1002, ISBN 978-1-5386-0457-1
Éditeur:
IEEE
DOI:
10.1109/CVPR.2017.112
Auteurs:
Robert Varga, Arthur Costea, Horatiu Florea, Ion Giosan, Sergiu Nedevschi
Publié dans:
2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC), 2017, Page(s) 1-8, ISBN 978-1-5386-1526-3
Éditeur:
IEEE
DOI:
10.1109/ITSC.2017.8317846
Auteurs:
Bianca-Cerasela-Zelia Blaga, Sergiu Nedevschi
Publié dans:
2017 13th IEEE International Conference on Intelligent Computer Communication and Processing (ICCP), 2017, Page(s) 295-301, ISBN 978-1-5386-3368-7
Éditeur:
IEEE
DOI:
10.1109/ICCP.2017.8117020
Auteurs:
Mircea Paul Muresan, Sergiu Nedevschi, Ion Giosan
Publié dans:
2017 13th IEEE International Conference on Intelligent Computer Communication and Processing (ICCP), 2017, Page(s) 317-322, ISBN 978-1-5386-3368-7
Éditeur:
IEEE
DOI:
10.1109/ICCP.2017.8117023
Auteurs:
Selma Goga, Sergiu Nedevschi
Publié dans:
2017 13th IEEE International Conference on Intelligent Computer Communication and Processing (ICCP), 2017, Page(s) 309-315, ISBN 978-1-5386-3368-7
Éditeur:
IEEE
DOI:
10.1109/ICCP.2017.8117022
Auteurs:
V. Miclea and S. Nedevschi
Publié dans:
2018
Éditeur:
IEEE
Auteurs:
Robert Varga
Publié dans:
2017
Éditeur:
IEEE
Auteurs:
Arthur Costea
Publié dans:
2017
Éditeur:
IEEE
Auteurs:
A. Costea, A. Petrovai, S. Nedevschi
Publié dans:
Deep vision workshop; 2018 IEEE Conference on Computer Vision and Pattern Recognition (CVPR 18), 2018
Éditeur:
IEEE
Auteurs:
Vlad Miclea
Publié dans:
2017
Éditeur:
IEEE
Auteurs:
Andra Petrovai
Publié dans:
2017
Éditeur:
IEEE
Auteurs:
A.D. Costea, A. Petrovai, S. Nedevschi
Publié dans:
2018 IEEE 21th International Conference on Intelligent Transportation Systems (ITSC 2018), 2018
Éditeur:
IEEE
Auteurs:
Mathias Buerki, Igor Gilitschenski, Elena Stumm, Roland Siegwart, and Juan Nieto
Publié dans:
International Conference on Intelligent Robots and Systems (IROS) 2016, 2016
Éditeur:
Mathias Buerki, Igor Gilitschenski, Elena Stumm, Roland Siegwart, and Juan Nieto
Auteurs:
Hermann Blum, Abel Gawel, Roland Siegwart, Cesar Cadena
Publié dans:
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Page(s) 3670-3677, ISBN 978-1-5386-8094-0
Éditeur:
IEEE
DOI:
10.1109/IROS.2018.8593786
Auteurs:
Schaupp, Lukas; Bürki, Mathias; Cadena, Cesar; Dube, Renaud; Siegwart, Roland
Publié dans:
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Numéro 1, 2019
Éditeur:
IEEE
DOI:
10.13140/rg.2.2.10859.59685
Auteurs:
Mathias Burki, Lukas Schaupp, Marcin Dymczyk, Renaud Dube, Cesar Cadena, Roland Siegwart, Juan Nieto
Publié dans:
2019 IEEE Intelligent Vehicles Symposium (IV), 2019, Page(s) 1124-1130, ISBN 978-1-7281-0560-4
Éditeur:
IEEE
DOI:
10.1109/IVS.2019.8814017
Auteurs:
Miguel I. Valls, Hubertus F.C. Hendrikx, Victor J.F. Reijgwart, Fabio V. Meier, Inkyu Sa, Renaud Dube, Abel Gawel, Mathias Burki, Roland Siegwart
Publié dans:
2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 2048-2055, ISBN 978-1-5386-3081-5
Éditeur:
IEEE
DOI:
10.1109/ICRA.2018.8462829
Auteurs:
Bürki, Mathias; Dymczyk, Marcin; Gilitschenski, Igor; Cadena, Cesar; Siegwart, Roland; Nieto, Juan
Publié dans:
IEEE Intelligent Vehicles Symposium, Numéro 1, 2018
Éditeur:
IEEE
Auteurs:
Florin Oniga, Sergiu Nedevschi
Publié dans:
2018 IEEE 14th International Conference on Intelligent Computer Communication and Processing (ICCP), 2018, Page(s) 209-214, ISBN 978-1-5386-8445-0
Éditeur:
IEEE
DOI:
10.1109/iccp.2018.8516642
Auteurs:
Selma Evelyn Catalina Deac, Ion Giosan, Sergiu Nedevschi
Publié dans:
2019 IEEE Intelligent Transportation Systems Conference (ITSC), 2019, Page(s) 3433-3440, ISBN 978-1-5386-7024-8
Éditeur:
IEEE
DOI:
10.1109/itsc.2019.8917020
Auteurs:
Andra Petrovai, Sergiu Nedevschi
Publié dans:
2019 IEEE Intelligent Vehicles Symposium (IV), 2019, Page(s) 2575-2581, ISBN 978-1-7281-0560-4
Éditeur:
IEEE
DOI:
10.1109/ivs.2019.8814177
Auteurs:
Berta Bescos, Jose Neira, Roland Siegwart, Cesar Cadena
Publié dans:
2019 International Conference on Robotics and Automation (ICRA), 2019, Page(s) 5460-5466, ISBN 978-1-5386-6027-0
Éditeur:
IEEE
DOI:
10.1109/icra.2019.8794417
Auteurs:
Horatiu FLOREA, Robert VARGA, Sergiu NEDEVSCHI
Publié dans:
2018 IEEE 14th International Conference on Intelligent Computer Communication and Processing (ICCP), 2018, Page(s) 223-228, ISBN 978-1-5386-8445-0
Éditeur:
IEEE
DOI:
10.1109/iccp.2018.8516581
Auteurs:
Danila Rukhovich, Daniel Mouritzen, Ralf Kaestner, Martin Rufli, Alexander Velizhev
Publié dans:
International Conference on Computer Vision (ICCV); Workshop on Computer Vision for Road Scene Understanding and Autonomous Driving, 2019
Éditeur:
IEEE
Auteurs:
Flaviu Ionut Vancea, Sergiu Nedevschi
Publié dans:
2018 IEEE 14th International Conference on Intelligent Computer Communication and Processing (ICCP), 2018, Page(s) 259-264, ISBN 978-1-5386-8445-0
Éditeur:
IEEE
DOI:
10.1109/iccp.2018.8516631
Auteurs:
J. Škovierová, A. Vobecký, M. Uller, R. Škoviera, V. Hlaváč
Publié dans:
4th International Conference on Vehicle Technology and Intelligent Transport Systems (VEHITS 2018), 2018
Éditeur:
Scitepress
Auteurs:
Mircea Paul Muresan, Sergiu Nedevschi
Publié dans:
2019 IEEE 15th International Conference on Intelligent Computer Communication and Processing (ICCP), 2019, Page(s) 11-18, ISBN 978-1-7281-4914-1
Éditeur:
IEEE
DOI:
10.1109/iccp48234.2019.8959552
Auteurs:
Andra Petrovai, Sergiu Nedevschi
Publié dans:
2019 IEEE Intelligent Transportation Systems Conference (ITSC), 2019, Page(s) 2394-2401, ISBN 978-1-5386-7024-8
Éditeur:
IEEE
DOI:
10.1109/itsc.2019.8917422
Auteurs:
Julia Nitsch, Juan Nieto, Roland Siegwart, Max Schmidt, Cesar Cadena
Publié dans:
2019 International Conference on Robotics and Automation (ICRA), 2019, Page(s) 4369-4375, ISBN 978-1-5386-6027-0
Éditeur:
IEEE
DOI:
10.1109/icra.2019.8793628
Auteurs:
J. Moravec, R. Šára
Publié dans:
Proceedings of the 23rd Computer Vision Winter Workshop, 2018
Éditeur:
.
Auteurs:
Selma Evelyn Catalina Goga, Sergiu Nedevschi
Publié dans:
2018 IEEE 14th International Conference on Intelligent Computer Communication and Processing (ICCP), 2018, Page(s) 301-308, ISBN 978-1-5386-8445-0
Éditeur:
IEEE
DOI:
10.1109/iccp.2018.8516649
Auteurs:
Alessandro Simovic, Ralf Kaestner, Martin Rufli
Publié dans:
2017
Éditeur:
Institute of Electrical and Electronics
Auteurs:
Cesar Cadena, Luca Carlone, Henry Carrillo, Yasir Latif, Davide Scaramuzza, Jose Neira, Ian Reid, John J. Leonard
Publié dans:
IEEE Transactions on Robotics, Numéro 32/6, 2016, Page(s) 1309-1332, ISSN 1552-3098
Éditeur:
Institute of Electrical and Electronics Engineers
DOI:
10.1109/TRO.2016.2624754
Auteurs:
Mathias Bürki, Cesar Cadena, Igor Gilitschenski, Roland Siegwart, Juan Nieto
Publié dans:
Journal of Field Robotics, Numéro 36/6, 2019, Page(s) 1041-1073, ISSN 1556-4959
Éditeur:
John Wiley & Sons Ltd.
DOI:
10.1002/rob.21870
Auteurs:
Thomas Schneider, Marcin Dymczyk, Marius Fehr, Kevin Egger, Simon Lynen, Igor Gilitschenski, Roland Siegwart
Publié dans:
IEEE Robotics and Automation Letters, Numéro 3/3, 2018, Page(s) 1418-1425, ISSN 2377-3766
Éditeur:
IEEE
DOI:
10.1109/LRA.2018.2800113
Auteurs:
Lukas Bernreiter, Abel Roman Gawel, Hannes Sommer, Juan Nieto, Roland Siegwart, Cesar Cadena Lerma
Publié dans:
IEEE Robotics and Automation Letters, 2019, Page(s) 1-1, ISSN 2377-3766
Éditeur:
IEEE
DOI:
10.1109/lra.2019.2925756
Auteurs:
Vlad-Cristian Miclea, Sergiu Nedevschi
Publié dans:
IEEE Transactions on Intelligent Transportation Systems, 2019, Page(s) 1-11, ISSN 1524-9050
Éditeur:
Institute of Electrical and Electronics Engineers
DOI:
10.1109/tits.2019.2913883
Auteurs:
Renaud Dubé, Andrei Cramariuc, Daniel Dugas, Hannes Sommer, Marcin Dymczyk, Juan Nieto, Roland Siegwart, Cesar Cadena
Publié dans:
The International Journal of Robotics Research, Numéro 39/2-3, 2020, Page(s) 339-355, ISSN 0278-3649
Éditeur:
SAGE Publications
DOI:
10.1177/0278364919863090
Auteurs:
Mircea Paul Muresan, Ion Giosan, Sergiu Nedevschi
Publié dans:
Sensors, Numéro 20/4, 2020, Page(s) 1110, ISSN 1424-8220
Éditeur:
Multidisciplinary Digital Publishing Institute (MDPI)
DOI:
10.3390/s20041110
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