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무인주행 요소기술 - Coggle Diagram
무인주행 요소기술
상황인지
주행상황인지
(Scene understanding)
Semantic segmentation
(Road segmentation)
비정형지형 모델링
(Ground surface reconstruction)
차선, 인도, 도로 인식
Person detection & tracking
Object detection & tracking
돌발상황인지
보행자 추돌, 위험감지 및 판단
무인제어
Person Following
Path Tracking (Following)
Safety Control
Collision Avoidance
Motion Control
(Independent) Four wheel drive
Ackermann drive
Differential wheel drive
멀티에이전트 관제시스템
5G, WiFi 기반 통신
Real-time Remote Control
Teleoperation
Vehicle 위치 및 상태 모니터링
Multi-agent Task Allocation
3D 환경지도작성
3D LiDAR SLAM
Visual SLAM
Visual Odometry
Dynamic map Management
MMS(Mobile Mapping System): 정밀지도 구축시스템
위치인식(측위)
GPS-based Localization
3D LiDAR + Vision + IMU
Vehicle Relocation
경로계획
3D Path (Re)Planning
Local Path Planning
Global Path Planning
Multi-agent Path planning