Publication

Slasher: Stadium racer car for event camera end-to-end learning autonomous driving experiments

2019
Conference paper
Abstract

Slasher is the first open 1/10 scale autonomous driving platform for exploring the use of neuromorphic event cameras for fast driving in unstructured indoor and outdoor environments. Slasher features a DAVIS event-based camera and ROS computer for perception and control. The DAVIS camera provides high dynamic range, sparse output, and sub-millisecond latency output for the quick visual control needed for fast driving. A race controller and Bluetooth remote joystick are used to coordinate different processing pipelines, and a low-cost ultra-wide-band (UWB) positioning system records trajectories. The modular design of Slasher can easily integrate additional features and sensors. In this paper, we show its application in a reflexive Convolutional Neural Network (CNN) steering controller trained by end-to-end learning. We present preliminary experiments in closed-loop indoor and outdoor trail driving.

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Related concepts (26)
Event camera
An event camera, also known as a neuromorphic camera, silicon retina or dynamic vision sensor, is an that responds to local changes in brightness. Event cameras do not capture images using a shutter as conventional (frame) cameras do. Instead, each pixel inside an event camera operates independently and asynchronously, reporting changes in brightness as they occur, and staying silent otherwise. Event camera pixels independently respond to changes in brightness as they occur.
Dynamic range
Dynamic range (abbreviated DR, DNR, or DYR) is the ratio between the largest and smallest values that a certain quantity can assume. It is often used in the context of signals, like sound and light. It is measured either as a ratio or as a base-10 (decibel) or base-2 (doublings, bits or stops) logarithmic value of the difference between the smallest and largest signal values. Electronically reproduced audio and video is often processed to fit the original material with a wide dynamic range into a narrower recorded dynamic range that can more easily be stored and reproduced; this processing is called dynamic range compression.
High dynamic range
High dynamic range (HDR) is a dynamic range higher than usual, synonyms are wide dynamic range, extended dynamic range, expanded dynamic range. The term is often used in discussing the dynamic range of various signals such as s, videos, audio or radio. It may apply to the means of recording, processing, and reproducing such signals including analog and digitized signals. The term is also the name of some of the technologies or techniques allowing to achieve high dynamic range images, videos, or audio.
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