75 citations · 328 across the 15 of their papers we have counts for
17 papers
EDGAR: An Autonomous Driving Research Platform -- From Feature Development to Real-World Application
Phillip Karle, Tobias Betz, Marcin Bosk +31
While current research and development of autonomous driving primarily focuses on developing new features and algorithms, the transfer from isolated software components into an ent…
RGB-L: Enhancing Indirect Visual SLAM using LiDAR-based Dense Depth Maps
Florian Sauerbeck, Benjamin Obermeier, Martin Rudolph +1
In this paper, we present a novel method for integrating 3D LiDAR depth measurements into the existing ORB-SLAM3 by building upon the RGB-D mode. We propose and compare two methods…
TUM autonomous motorsport: An autonomous racing software for the Indy Autonomous Challenge
Johannes Betz, Tobias Betz, Felix Fent +16
For decades, motorsport has been an incubator for innovations in the automotive sector and brought forth systems like disk brakes or rearview mirrors. Autonomous racing series such…
Indy Autonomous Challenge -- Autonomous Race Cars at the Handling Limits
Alexander Wischnewski, Maximilian Geisslinger, Johannes Betz +15
Motorsport has always been an enabler for technological advancement, and the same applies to the autonomous driving industry. The team TUM Auton-omous Motorsports will participate…
Stress Testing Autonomous Racing Overtake Maneuvers with RRT
Stanley Bak, Johannes Betz, Abhinav Chawla +2
High-performance autonomy often must operate at the boundaries of safety. When external agents are present in a system, the process of ensuring safety without sacrificing performan…
Track based Offline Policy Learning for Overtaking Maneuvers with Autonomous Racecars
Jayanth Bhargav, Johannes Betz, Hongrui Zheng +1
The rising popularity of driver-less cars has led to the research and development in the field of autonomous racing, and overtaking in autonomous racing is a challenging task. Vehi…
Radar Voxel Fusion for 3D Object Detection
Felix Nobis, Ehsan Shafiei, Phillip Karle +2
Automotive traffic scenes are complex due to the variety of possible scenarios, objects, and weather conditions that need to be handled. In contrast to more constrained environment…
Real-Time Adaptive Velocity Optimization for Autonomous Electric Cars at the Limits of Handling
Thomas Herrmann, Alexander Wischnewski, Leonhard Hermansdorfer +2
With the evolution of self-driving cars, autonomous racing series like Roborace and the Indy Autonomous Challenge are rapidly attracting growing attention. Researchers participatin…
An Open-Source Scenario Architect for Autonomous Vehicles
Tim Stahl, Johannes Betz
The development of software components for autonomous driving functions should always include an extensive and rigorous evaluation. Since real-world testing is expensive and safety…
Benchmarking of a software stack for autonomous racing against a professional human race driver
Leonhard Hermansdorfer, Johannes Betz, Markus Lienkamp
The way to full autonomy of public road vehicles requires the step-by-step replacement of the human driver, with the ultimate goal of replacing the driver completely. Eventually, t…
Multilayer Graph-Based Trajectory Planning for Race Vehicles in Dynamic Scenarios
Tim Stahl, Alexander Wischnewski, Johannes Betz +1
Trajectory planning at high velocities and at the handling limits is a challenging task. In order to cope with the requirements of a race scenario, we propose a far-sighted two ste…
Online Verification Concept for Autonomous Vehicles -- Illustrative Study for a Trajectory Planning Module
Tim Stahl, Matthis Eicher, Johannes Betz +1
Regulatory approval and safety guarantees for autonomous vehicles facing frequent functional updates and complex software stacks, including artificial intelligence, are a challengi…
Energy Management Strategy for an Autonomous Electric Racecar using Optimal Control
Thomas Herrmann, Fabian Christ, Johannes Betz +1
The automation of passenger vehicles is becoming more and more widespread, leading to full autonomy of cars within the next years. Furthermore, sustainable electric mobility is gai…
A Deep Learning-based Radar and Camera Sensor Fusion Architecture for Object Detection
Felix Nobis, Maximilian Geisslinger, Markus Weber +2
Object detection in camera images, using deep learning has been proven successfully in recent years. Rising detection rates and computationally efficient network structures are pus…
Persistent Map Saving for Visual Localization for Autonomous Vehicles: An ORB-SLAM Extension
Felix Nobis, Odysseas Papanikolaou, Johannes Betz +1
Electric vhicles and autonomous driving dominate current research efforts in the automotive sector. The two topics go hand in hand in terms of enabling safer and more environmental…
Exploring the Capabilities and Limits of 3D Monocular Object Detection -- A Study on Simulation and Real World Data
Felix Nobis, Fabian Brunhuber, Simon Janssen +2
3D object detection based on monocular camera data is a key enabler for autonomous driving. The task however, is ill-posed due to lack of depth information in 2D images. Recent dee…
Minimum Race-Time Planning-Strategy for an Autonomous Electric Racecar
Thomas Herrmann, Francesco Passigato, Johannes Betz +1
Increasing attention to autonomous passenger vehicles has also attracted interest in an autonomous racing series. Because of this, platforms such as Roborace and the Indy Autonomou…