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  4. Slasher: Stadium racer car for event camera end-to-end learning autonomous driving experiments
 
conference paper

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

Hu, Yuhuang
•
Chen, Hong Ming
•
Delbruck, Tobi
July 25, 2019
2019 IEEE International Conference on Artificial Intelligence Circuits and Systems (AICAS)
2019 IEEE International Conference on Artificial Intelligence Circuits and Systems (AICAS)

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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Type
conference paper
DOI
10.1109/AICAS.2019.8771520
Author(s)
Hu, Yuhuang
Chen, Hong Ming
Delbruck, Tobi
Date Issued

2019-07-25

Published in
2019 IEEE International Conference on Artificial Intelligence Circuits and Systems (AICAS)
Start page

29

End page

33

Subjects

Autonomous driving

•

Robotic platform

•

Learning to control

Editorial or Peer reviewed

REVIEWED

Written at

OTHER

EPFL units
NCCR-ROBOTICS  
Event nameEvent placeEvent date
2019 IEEE International Conference on Artificial Intelligence Circuits and Systems (AICAS)

Hsinchu, Taiwan

March 18-20, 2019

Available on Infoscience
October 31, 2019
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/162601
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