Hwasung Autonomous Driving Contest

2023.10.13~2023.10.14

I participated in the Localization Team, Vision Team, and the Path-Planning Team.

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Local Team

• Processing LiDAR Data
  • 3D lidar points (pcd) → 2D laser scan: PCD to Laser Scan
  • pcd(point cloud data) processing ex) clustering
• Detect parking space using lidar data
  • algorithm
  • clustering
• Setting up the IMU, GPS driver

Vision Team

• YOLOP: Lane Detection
  • Post-processing algorithm
  • TensorRT engine
• YOLOv5: traffic light, object detection
  • Collecting dataset
  • Lidar-Camera sensor fusion
• PersFormer: 3D Lane Detection
  • CMake
  • nms
• CUDA, torch, nvidia driver compatibility
• Lane detection algorithm

Path-Planning Team

• Morai Simulator
  • Robot Localization package
  • map, odom, base frame tf
  • navigation stack
  • writing roslaunch files
• HD Map
  • QGIS: editing maps
  • UTM, WGS84
• ROS Navigation Stack
  • ROS service
  • Goal manager logic

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