EXPLORATION OF DEEP LEARNING APPLICATIONS ON AN AUTONOMOUS EMBEDDED PLATFORM (BLUEBOX 2.0)
thesisposted on 06.12.2019 by Dewant Katare
In order to distinguish essays and pre-prints from academic theses, we have a separate category. These are often much longer text based documents than a paper.
An Autonomous vehicle depends on the combination of latest technology or the ADAS safety features such as Adaptive cruise control (ACC), Autonomous Emergency Braking (AEB), Automatic Parking, Blind Spot Monitor, Forward Collision Warning or Avoidance (FCW or FCA), Lane Departure Warning. The current trend follows incorporation of these technologies using the Artificial neural network or Deep neural network, as an imitation of the traditionally used algorithms. Recent research in the field of deep learning and development of competent processors for autonomous or self driving car have shown amplitude of prospect, but there are many complexities for hardware deployment because of limited resources such as memory, computational power, and energy. Deployment of several mentioned ADAS safety feature using multiple sensors and individual processors, increases the integration complexity and also results in the distribution of the system, which is very pivotal for autonomous vehicles.
This thesis attempts to tackle two important adas safety feature: Forward collision Warning, and Object Detection using the machine learning and Deep Neural Networks and there deployment in the autonomous embedded platform.
This thesis proposes the following:
1. A machine learning based approach for the forward collision warning system in an autonomous vehicle.
2.3-D object detection using Lidar and Camera which is primarily based on Lidar Point Clouds.
The proposed forward collision warning model is based on the forward facing automotive radar providing the sensed input values such as acceleration, velocity and separation distance to a classifier algorithm which on the basis of supervised learning model, alerts the driver of possible collision. Decision Tress, Linear Regression, Support Vector Machine, Stochastic Gradient Descent, and a Fully Connected Neural Network is used for the prediction purpose.
The second proposed methods uses object detection architecture, which combines the 2D object detectors and a contemporary 3D deep learning techniques. For this approach, the 2D object detectors is used first, which proposes a 2D bounding box on the images or video frames. Additionally a 3D object detection technique is used where the point clouds are instance segmented and based on raw point clouds density a 3D bounding box is predicted across the previously segmented objects.