Accurate Mapping and Planning for Autonomous Racing
Leiv Andresen,Adrian Brandemuehl,Alex Honger,Benson Kuan,Niclas Vödisch,Hermann Blum,Victor Reijgwart,Lukas Bernreiter,Lukas Schaupp,Jen Jen Chung,Mathias Burki,Martin R. Oswald,Roland Siegwart,Abel Gawel,Leiv Andresen,Adrian Brandemuehl,Alex Honger,Benson Kuan,Niclas Vödisch,Hermann Blum,Victor Reijgwart,Lukas Bernreiter,Lukas Schaupp,Jen Jen Chung,Mathias Burki,Martin R. Oswald,Roland Siegwart,Abel Gawel
This paper presents the perception, mapping, and planning pipeline implemented on an autonomous race car. It was developed by the 2019 AMZ driverless team for the Formula Student Germany (FSG) 2019 driverless competition, where it won 1st place overall. The presented solution combines early fusion of camera and LiDAR data, a layered mapping approach, and a planning approach that uses Bayesian filt...
