Evaluating Autonomous Urban Perception and Planning in a 1/10th Scale MiniCity
We present the MiniCity, a multi-vehicle evaluation platform for testing perception hardware and software for autonomous vehicles. The MiniCity is a 1/10th scale city consisting of realistic urban scenery, intersections, and multiple fully autonomous 1/10th scale vehicles with state-of-the-art senso...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
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Multidisciplinary Digital Publishing Institute
2022
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| Online Access: | https://hdl.handle.net/1721.1/145318 |
| _version_ | 1826198049777516544 |
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| author | Buckman, Noam Hansen, Alex Karaman, Sertac Rus, Daniela |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Buckman, Noam Hansen, Alex Karaman, Sertac Rus, Daniela |
| author_sort | Buckman, Noam |
| collection | MIT |
| description | We present the MiniCity, a multi-vehicle evaluation platform for testing perception hardware and software for autonomous vehicles. The MiniCity is a 1/10th scale city consisting of realistic urban scenery, intersections, and multiple fully autonomous 1/10th scale vehicles with state-of-the-art sensors and algorithms. The MiniCity is used to evaluate and test perception algorithms both upstream and downstream in the autonomy stack, in urban driving scenarios such as occluded intersections and avoiding multiple vehicles. We demonstrate the MiniCity’s ability to evaluate different sensor and algorithm configurations for perception tasks such as object detection and localization. For both tasks, the MiniCity platform is used to evaluate the task itself (accuracy in estimating obstacle pose and ego pose in the map) as well as the downstream performance in collision avoidance and lane following, respectively. |
| first_indexed | 2024-09-23T10:58:03Z |
| format | Article |
| id | mit-1721.1/145318 |
| institution | Massachusetts Institute of Technology |
| last_indexed | 2024-09-23T10:58:03Z |
| publishDate | 2022 |
| publisher | Multidisciplinary Digital Publishing Institute |
| record_format | dspace |
| spelling | mit-1721.1/1453182023-02-09T15:29:22Z Evaluating Autonomous Urban Perception and Planning in a 1/10th Scale MiniCity Buckman, Noam Hansen, Alex Karaman, Sertac Rus, Daniela Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology. Laboratory for Information and Decision Systems We present the MiniCity, a multi-vehicle evaluation platform for testing perception hardware and software for autonomous vehicles. The MiniCity is a 1/10th scale city consisting of realistic urban scenery, intersections, and multiple fully autonomous 1/10th scale vehicles with state-of-the-art sensors and algorithms. The MiniCity is used to evaluate and test perception algorithms both upstream and downstream in the autonomy stack, in urban driving scenarios such as occluded intersections and avoiding multiple vehicles. We demonstrate the MiniCity’s ability to evaluate different sensor and algorithm configurations for perception tasks such as object detection and localization. For both tasks, the MiniCity platform is used to evaluate the task itself (accuracy in estimating obstacle pose and ego pose in the map) as well as the downstream performance in collision avoidance and lane following, respectively. 2022-09-08T15:09:43Z 2022-09-08T15:09:43Z 2022-09-08 2022-09-08T13:24:22Z Article http://purl.org/eprint/type/JournalArticle https://hdl.handle.net/1721.1/145318 Sensors 22 (18): 6793 (2022) PUBLISHER_CC http://dx.doi.org/10.3390/s22186793 Creative Commons Attribution https://creativecommons.org/licenses/by/4.0/ application/pdf Multidisciplinary Digital Publishing Institute Multidisciplinary Digital Publishing Institute |
| spellingShingle | Buckman, Noam Hansen, Alex Karaman, Sertac Rus, Daniela Evaluating Autonomous Urban Perception and Planning in a 1/10th Scale MiniCity |
| title | Evaluating Autonomous Urban Perception and Planning in a 1/10th Scale MiniCity |
| title_full | Evaluating Autonomous Urban Perception and Planning in a 1/10th Scale MiniCity |
| title_fullStr | Evaluating Autonomous Urban Perception and Planning in a 1/10th Scale MiniCity |
| title_full_unstemmed | Evaluating Autonomous Urban Perception and Planning in a 1/10th Scale MiniCity |
| title_short | Evaluating Autonomous Urban Perception and Planning in a 1/10th Scale MiniCity |
| title_sort | evaluating autonomous urban perception and planning in a 1 10th scale minicity |
| url | https://hdl.handle.net/1721.1/145318 |
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