Praćenje objekata za autonomna vozila u CARLA simulatoru

undergraduate thesis

• Title (english): Object tracking for autonomous vehicles in CARLA simulator
• Author: Ivor Pavić
• Mentor: Ivan Marković (mentor)
• Committee member: Ivan Marković (član povjerenstva)
• Committee member: Karlo Koledić (član povjerenstva)
• Committee member: Luka Petrović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2022-09-12, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

Za uspješnu autonomiju u vožnji automobila ključnu ulogu imaju detekcija i praćenje objekata. No, za treniranje algoritama koji odrađuju detekciju i praćenje objekata potrebne su velike količine podataka, a njihovo prikupljanje i označavanje danas je veliki problem. Tu nam uvelike pomažu simulatori. U ovom radu ukratko je opisan CARLA simulator, razrađen je problem detekcije i praćenja objekata, te je opisana CenterTrack duboka neuronska mreža. Na posljetku je prikazano kako uzeti sliku sa senzora automobila u CARLA simulatoru i staviti tu sliku na ulaz CenterTrack mreže, te time odraditi praćenje objekata u CARLA simulatoru.

Abstract (english)

Object detection and object tracking play a key role in successful autonomous driving. However, collecting large amounts of data that is needed to train algorithms that detect and track objects, and their labeling is a huge problem today. This is why simulators are really useful. In this paper, CARLA simulator is briefly described, object detection and tracking problem is elaborated, and the CenterTrack deep neural network is described. Finally, it is shown how to take an image from a sensor placed on a car in CARLA simulator and place that image as an input of the CenterTrack network, and thereby perform object tracking in the CARLA simulator.

• Keywords: detekcija objekata; praćenje objekata; CARLA simulator; CenterTrack duboka neuronska mreža
• Keywords (english): object detection; object tracking; CARLA simulator; CenterTrack deep neural network
• Language: croatian
• URN:NBN: urn:nbn:hr:168:278650
• Study programme: Title: Computing; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-15 10:59:47