Tom Bustert’s research while affiliated with University of Bremen and other places

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Publications (1)


Fig. 5. Simulated maneuver generated by the motion planner involving an inversion of the driving direction and considering the predicted motion of a moving object (approximated by red circles). The colored points describe the past trajectories of both vehicles with the colors representing the speed values at the corresponding time. Data about the vehicle environment is given in black, the automatically generated free-space polygon is shown in orange and the (dynamic) Voronoi edges in green accordingly.
Fig. 6. A vehicle steered by the OPA 3 L software in Borgfeld, a suburb of Bremen, within the CARLA simulator.
Fig. 8. Sensor data displayed in the remote control center. LiDAR scans are rendered as point clouds, cameras are mapped to planes.
Fig. 9. c GeoBasis-DE / Landesamt GeoInformation Bremen 2019. Driven route (yellow) overlaid with the lanes (red) provided by the strategic decision making. The route starts in the east and leads to a turning circle to the west. After passing through it, the route returns to the starting point.
Fig. 10. Example of the evidential dynamic map. Green areas are observed as free, static cells are marked red, while dynamic cells are blue. Cyan represents areas with no information in the current scan, where previously information was available. There are three dynamic objects in the scene, which are detected and marked with a purple bounding box. Additionally there are a number of parked vehicles, which are correctly excluded from the detection.

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The OPA 3 L System and Testconcept for Urban Autonomous Driving
  • Conference Paper
  • Full-text available

October 2022

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39 Reads

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6 Citations

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Citations (1)


... In particular, the ⊞-operator is used to generate the sigma points in (37), the measurement function h : S → Z in (38) is defined on manifold spaces, and the iterative algorithm of Table 1 is applied to compute the expected measurement in (39). Furthermore, the ⊟-operator is utilized to determine the difference between the sigma points and the expected measurement in the QR decomposition in (40) and in the Cholesky up-or downdate in (41). The same applies to the calculation of the cross-covariance in (42), where the ⊟-operator is used as well. ...

Reference:

The Square-Root Unscented and the Square-Root Cubature Kalman Filters on Manifolds
The OPA 3 L System and Testconcept for Urban Autonomous Driving