Study and adaptation of the autonomous driving simulator CARLA for the ATLASCAR2

Detalhes bibliográficos
Autor(a) principal: Silva, Pedro Marques Ferreira da
Data de Publicação: 2019
Tipo de documento: Dissertação
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10773/29660
Resumo: Within the scope of the ATLASCAR2 project, this dissertation is based on studying and integrating the already existing autonomous driving assistance simulator named CARLA that implements an interface based on ROS to replicate the ATLASCAR2 setup in the simulation. The idea of using an autonomous driving simulator was proposed as a way to simplify the data aquisition process for the ATLASCAR2 since this process keeps on getting more and more difficult due to factors such as the complexity in the setup and the calibration processes of the installed sensors on the ATLASCAR2, as well as other factors such as the hardware interface and the time that is required to perform a single data aquisition using the ATLASCAR2. This tool can produce realistic scenarios and can be used for testing out the algorithms that are going to be implemented in the ATLASCAR2 in controlled environments, offering a degree of ground truth for these algorithms that can be used to evaluate the performance in these environments before implementing them in the real platform. The replication of the ATLASCAR2 setup process as well as the algorithms involved in CARLA will be discussed in further detail during this dissertation which include sections talking about the replication process and the algorithms involved, showing the results of the ATLASCAR2 setup implementation in CARLA as well as some other results produced from experiments with CARLA simulated data which include the use of computer vision algorithms as well as other algorithms that are currently being used in the ATLASCAR2.
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spelling Study and adaptation of the autonomous driving simulator CARLA for the ATLASCAR2Autonomous DrivingAutonomous VehiclesAutonomous Driving SimulatorsATLASCARCARLAADADASLIDARObject DetectionImage ProcessingWithin the scope of the ATLASCAR2 project, this dissertation is based on studying and integrating the already existing autonomous driving assistance simulator named CARLA that implements an interface based on ROS to replicate the ATLASCAR2 setup in the simulation. The idea of using an autonomous driving simulator was proposed as a way to simplify the data aquisition process for the ATLASCAR2 since this process keeps on getting more and more difficult due to factors such as the complexity in the setup and the calibration processes of the installed sensors on the ATLASCAR2, as well as other factors such as the hardware interface and the time that is required to perform a single data aquisition using the ATLASCAR2. This tool can produce realistic scenarios and can be used for testing out the algorithms that are going to be implemented in the ATLASCAR2 in controlled environments, offering a degree of ground truth for these algorithms that can be used to evaluate the performance in these environments before implementing them in the real platform. The replication of the ATLASCAR2 setup process as well as the algorithms involved in CARLA will be discussed in further detail during this dissertation which include sections talking about the replication process and the algorithms involved, showing the results of the ATLASCAR2 setup implementation in CARLA as well as some other results produced from experiments with CARLA simulated data which include the use of computer vision algorithms as well as other algorithms that are currently being used in the ATLASCAR2.No âmbito do projecto do ATLASCAR2, esta dissertação baseia-se no estudo e integração do simulador já existente para assistência à condução autónoma CARLA, que implementa uma interface baseada em ROS para replicar o setup do ATLASCAR2 dentro da simulação. A ideia do uso de um simulador de condução autónoma como CARLA foi proposta a _m de simplificar a tarefa de aquisição de dados para o ATLASCAR2 visto que esta é uma tarefa que se vai tornando cada vez mais difícil devido a factores como a complexidade ao nível do setup e a calibração dos sensores instalados no ATLASCAR2, assim como outros factores como a interface de hardware e o tempo que é necessário para fazer uma aquisição de dados usando o ATLASCAR2. Esta ferramenta consegue produzir cenários próximos da realidade e pode ser usada para testar os algoritmos que vão ser usados no ATLASCAR2 em ambientes controlados oferencendo um método de validação que pode ser usado para avaliar o desempenho destes algoritmos nesses ambientes antes de os testar na plataforma real. O processo de replicação do setup do ATLASCAR2 e os algoritmos envolvidos no CARLA serão descritos com mais detalhe durante a dissertação que inclui secções onde é feita a descrição do processo de replicação do setup e dos algoritmos, a demonstração de resultados produzidos através da implementação do setup do ATLASCAR2 no CARLA, assim como alguns resultados produzidos de algumas experiências com dados simulados pelo CARLA que inclui a utilização de algoritmos de visão e outros algoritmos que estão a ser utilizados no ATLASCAR2.2020-10-30T15:12:22Z2019-07-01T00:00:00Z2019-07info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisapplication/pdfhttp://hdl.handle.net/10773/29660engSilva, Pedro Marques Ferreira dainfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2024-02-22T11:57:24Zoai:ria.ua.pt:10773/29660Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-20T03:01:56.608906Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Study and adaptation of the autonomous driving simulator CARLA for the ATLASCAR2
title Study and adaptation of the autonomous driving simulator CARLA for the ATLASCAR2
spellingShingle Study and adaptation of the autonomous driving simulator CARLA for the ATLASCAR2
Silva, Pedro Marques Ferreira da
Autonomous Driving
Autonomous Vehicles
Autonomous Driving Simulators
ATLASCAR
CARLA
AD
ADAS
LIDAR
Object Detection
Image Processing
title_short Study and adaptation of the autonomous driving simulator CARLA for the ATLASCAR2
title_full Study and adaptation of the autonomous driving simulator CARLA for the ATLASCAR2
title_fullStr Study and adaptation of the autonomous driving simulator CARLA for the ATLASCAR2
title_full_unstemmed Study and adaptation of the autonomous driving simulator CARLA for the ATLASCAR2
title_sort Study and adaptation of the autonomous driving simulator CARLA for the ATLASCAR2
author Silva, Pedro Marques Ferreira da
author_facet Silva, Pedro Marques Ferreira da
author_role author
dc.contributor.author.fl_str_mv Silva, Pedro Marques Ferreira da
dc.subject.por.fl_str_mv Autonomous Driving
Autonomous Vehicles
Autonomous Driving Simulators
ATLASCAR
CARLA
AD
ADAS
LIDAR
Object Detection
Image Processing
topic Autonomous Driving
Autonomous Vehicles
Autonomous Driving Simulators
ATLASCAR
CARLA
AD
ADAS
LIDAR
Object Detection
Image Processing
description Within the scope of the ATLASCAR2 project, this dissertation is based on studying and integrating the already existing autonomous driving assistance simulator named CARLA that implements an interface based on ROS to replicate the ATLASCAR2 setup in the simulation. The idea of using an autonomous driving simulator was proposed as a way to simplify the data aquisition process for the ATLASCAR2 since this process keeps on getting more and more difficult due to factors such as the complexity in the setup and the calibration processes of the installed sensors on the ATLASCAR2, as well as other factors such as the hardware interface and the time that is required to perform a single data aquisition using the ATLASCAR2. This tool can produce realistic scenarios and can be used for testing out the algorithms that are going to be implemented in the ATLASCAR2 in controlled environments, offering a degree of ground truth for these algorithms that can be used to evaluate the performance in these environments before implementing them in the real platform. The replication of the ATLASCAR2 setup process as well as the algorithms involved in CARLA will be discussed in further detail during this dissertation which include sections talking about the replication process and the algorithms involved, showing the results of the ATLASCAR2 setup implementation in CARLA as well as some other results produced from experiments with CARLA simulated data which include the use of computer vision algorithms as well as other algorithms that are currently being used in the ATLASCAR2.
publishDate 2019
dc.date.none.fl_str_mv 2019-07-01T00:00:00Z
2019-07
2020-10-30T15:12:22Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/masterThesis
format masterThesis
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10773/29660
url http://hdl.handle.net/10773/29660
dc.language.iso.fl_str_mv eng
language eng
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
repository.mail.fl_str_mv
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