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- Motion Planning
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목록autonomous vehicle (2)
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[논문 리뷰] Vector Net: Encoding HD maps and agent dynamics from vectorized representation
Paper : Gao, Jiyang, et al. "Vectornet: Encoding hd maps and agent dynamics from vectorized representation." Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition. 2020. Website : https://blog.waymo.com/2020/05/vectornet.html 요약 자율주행 차량의 Motion Planning을 위한 주변 Agent의 Behavior prediction에 사용 가능한 뉴럴 네트워크 아키텍처 제안 도로 상황을 Rasterized Image (2D or 3D)가 아닌 Vector 형태로 표현해 뉴럴 넷..
[논문 리뷰] Safetynet: Safe planning for real-world self-driving vehicles using machine-learned policies
Paper: Vitelli, Matt, et al. "Safetynet: Safe planning for real-world self-driving vehicles using machine-learned policies." 2022 International Conference on Robotics and Automation (ICRA). IEEE, 2022. Website: https://www.self-driving-cars.org/papers/2022-safetynet 요약 자율주행을 위한 Imitation Learning 기반의 Motion Planning 기법을 설명한다. Machine Learning planner와 rule-based fallback path planning layer가 합쳐진..