Lectures

Part 1: State Estimation

Part 2: Perception

Part 3: Action

Part 4: System Integration, Verification and Testing

Supplemental Materials

Lecture (2020/09/17)

Course Introduction
Bob's Ventures on Self-Driving Cars
多車款自駕車系統建置與台灣開放場域測試驗證

Online Talk

Self-Driving Cars: State of the Art by Lex Fridman, MIT (2019) [YouTube]

Part 1: State Estimation

Lecture: Probabilistic State Estimation (2020/09/24)

Basic Probabilistic Concepts
Robot Environment Interaction
Bayes Filters

Lecture: Gaussian Filters (2020/10/08)

Kalman filter
Extended Kalman filter
Multiple Hypothesis Tracking

Lecture: Markov Localization (2020/mm/dd)

Gaussian Localization
Grid & Monte Carlo Localization

Lecture: 3D Scan Matching and Registration (2020/mm/dd)

Rigid-Body Alignment (the Iterative Closest Point Algorithm)
Shape Matching

Lecture: Mapping (2020/mm/ddd, mm/dd)

Simultaneous Localization and Mapping (SLAM)
Visual Inertial Odometry (VIO)

Guest Lecture by Dr. 呂勝利 and 林立人: Mapping (2020/mm/dd)

Geometric Mapping
Semantic Mapping

Online Talks

Michael I. Jordan: Machine Learning, Recommender Systems, and the Future of AI (2020) [YouTube]
Mapping, Localization and Self-Driving Vehicles by John Leonard, MIT (2015) [YouTube]

Part 2: Perception

Lecture: Machine Perception & Machine Learning (2020/mm/dd)

Probabilistic Machine Perception / Bayesian Learning
Deep Learning
- MIT Deep Learning Basics: Introduction and Overview (2019) [YouTube]
- MIT Deep Learning Series: Deep Learning State of the Art (2020) [YouTube]
Final Perception Competitions

Lecture: Lane Detection (2020/mm/dd)

Traditional Approaches
End-to-End Lane Detection

Lecture: Traffic Light Detection and Recognition (2020/mm/dd)

Detection
Recognition

Lecture: Moving Object Detection, Recognition and Tracking (2020/mm/dd)

Motion Segmentation/Classification
Tracking & Prediction

Online Talks

Taming the Long Tail of Autonomous Driving Challenges by Drago Anguelov, Waymo (2019) [YouTube]
The Rise of Machine Learning in Self-Driving Cars by Sacha Arnoud, Waymo. (2018) [YouTube]
Deep Learning Behind the Wheel by Karl Iagnemma, Aptiv (2019) [YouTube, 2nd Part]

Online Talk

Autonomous Driving by Peter Gao, Cruise (2017) [YouTube]
The 100-100 Tracking Challenge by Dieter Fox, UW (2016) [YouTube]

Part 3: Action

Lecture: Control

Vehicle Kinematics and Dynamics
Control

Guest Lecture by 李則霖 and 林敬智: Action (2020/mm/dd)

Behavior
Motion Planning and Control

Online Talk

Motion Planning in a Complex World by Sertac Karaman, MIT [YouTube]
Teaching a Car to Drive Itself by Imitation and Imagination (Google I/O'19) [YouTube]

Part 4: System Integration, Verification and Testing

Lecture: Safety (2020/mm/dd)

ISO 26262 Functional Safety
Responsibility Sensitive Safety (RSS) Formal Model
Failure Aware and Recovery

Guest Lecture by Dr. 胡振輝 : Simulation & Action Verification and Testing (2020/mm/dd)

SDC verification and validation challenges.
Automatic scenario generation for SDC validation.
Safety standards and industrial partices/applications.

Online Talks

Responsibility Sensitive Safety by Jack Weast, Mobileye/Intel [2020] [YouTube]
Safety of Autonomous Vehicles by Amnon Shashua, Mobileye/Intel (2018) [YouTube]
The State of AV/ADAS at Mobileye/Intel by Amnon Shashua (2019) [YouTube]
Self-Driving Cars and AI by Jeff Schneider, CMU/Uber (2019) [YouTube]
Deep Learning Behind the Wheel by Karl Iagnemma, Aptiv (2019) [YouTube, First Part]

Supplemental Materials

Lecture: Calibration

Theory & Algorithms
Offline & Online

Lecture: Software Engineering and Team Collaboration

Google C++ Style Guide
Version Control System
Code Review
Collaboration and Project Management

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