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Fig. 7. Images of the ZED stereo camera showing how light conditions
affect the visual cone appearance.
circle gets darker and less visible.
The Lidar suffers from similar issues, as can be seen in
Fig. 8. The cone detection algorithm was tested in an outdoor
environment during rain. Since dealing with environmental
conditions is part of the challenge of Formula Student, the
vehicle will have to run regardless of the current weather.
The small axis markers show laser scan points that hit
a cone in the vicinity of the robot. The small red dots
represent points relative to the robot where an obstacle was
detected. The white visual markers on the field show the
cones the robot itself is currently detecting; the numbered
axis markers show the cones mapped. Usually the field
would be empty at the sensor’s maximum range, but during
rain, reflections are measured at some point, resulting in a
noisy outer cloud structure. Near the robot some of the rays
are instantly reflected and reduce the amount of rays that
hit a cone, thus making accurate detection more difficult.
Fig. 8 shows that the algorithm used is able to map cones
with decreasing accuracy but at higher distances. Since scan
data has to be compared over time until a cone can be
classified correctly, the speed of the detection algorithm is
also adversely affected.
One can expect the effect of small rocks on the track to
have similar effects on detection, as at high speeds they are
usually sprayed across the track by the vehicle.
VI. CONCLUSION
In this paper the TUW Racing team’s approach to the FSD
2017 competition was presented. Details were provided on
its hardware and the approach to its control software.
The team will begin testing within the next month on a
test site with road conditions that resemble the event location
and a setup with obstacles corresponding to those detailed
in the rules. Initially the team will validate the accuracy
of the motion model and perception system in separate
road sections. Then it will complete entire tracks at low
speeds before gradually increasing speeds while improving
controller parameters.
While TUW Racing’s main goal this year was successful
participation in the first Formula Student Driverless event,
its goal for further seasons will extend to improving the
efficiency of the vision algorithms and accuracy of the un-
derlying motion model. The choice of the sensors, actuators vehicle mapped cones
detected cones
measurment noise, raindrops new mapped cone
Fig. 8. ROS Rviz view of an outdoor test with the pioneer during rain.
The laser scan (red) is disturbed by the raindrops.
and computers as well as the software framework will be
influenced by performance in this year’s competition.
ACKNOWLEDGMENT
The project is supported by TTTech Automotive GmbH.
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56
Proceedings of the OAGM&ARW Joint Workshop
Vision, Automation and Robotics
- Title
- Proceedings of the OAGM&ARW Joint Workshop
- Subtitle
- Vision, Automation and Robotics
- Authors
- Peter M. Roth
- Markus Vincze
- Wilfried Kubinger
- Andreas MĂĽller
- Bernhard Blaschitz
- Svorad Stolc
- Publisher
- Verlag der Technischen Universität Graz
- Location
- Wien
- Date
- 2017
- Language
- English
- License
- CC BY 4.0
- ISBN
- 978-3-85125-524-9
- Size
- 21.0 x 29.7 cm
- Pages
- 188
- Keywords
- Tagungsband
- Categories
- International
- Tagungsbände