Autonomous Last mIle VEhicle (ALIVE)

Welcome to IIITD ALIVE!

We are a team of faculty, engineers and students at IIIT-Delhi involved in the design and development of an autonomous vehicle with the goal of providing the much needed 24x7, safe, hassle-free, last mile connectivity.

Take a look at what we are up to!

Static Obstacle Avoidance using the Mahindra e2o platform

IIITD-ALIVE-campus-testbed-Sep2023-small.mp4

This video demonstrates our Mahindra e2o platform performing static obstacle avoidance over the IIITD campus area. The right panel in the video shows the HD map of the campus area with the planned trajectories, obstacles and the lanelets. Even though it avoids some dynamic obstacles in this demo, our dynamic obstacle avoidance is work in progress!

This video demonstrates our Mahindra e2o platform performing static obstacle avoidance on the IIITD testbed. The right panel in the video shows the HD map of the testbed area with the planned trajectories.

Our drive-by-wire enabled e-Rick platform

joyerick.MOV

This video demonstrates our in-house drive-by-wire enabled e-Cart being driven using a wireless keyboard. The steering, throttle, foot-brake, front-brake are all electronically controlled from the keyboard.

Perception

PRSG-final-video.mp4

This video demonstrates our object detection and tracking whilst calculating the distance from the ego vehicle. The objects from the camera are mapped into the LiDAR pointcloud thus giving the distance information for accurate obstacle filtering.

LIDAR-based Localization

LocalizationDemo.mp4

This video demonstrates our LIDAR-based localization (using a modified version of F-LOAM, IROS`21) in an existing point cloud map.

Driver State Monitoring

Dsm demo.mp4

Android App used for Monitoring the Driver for Drowsiness and Distraction based on facial features and head Pose extracted using Computer Vision.

A glimpse of how we got here...

IIITD-ALIVE-Journey.mp4

Our Journey of Autonomous Driving

Inspired by the Mahindra Rise Driverless Car Challenge, we started the autonomous driving journey by creating a simple drive-by-wire interface for the e-Rickshaw. Take a look at our journey.

IIITD-ALIVE-video.mp4

Waypoint Following Demo

IIITD ALIVE on the Mahindra e2o electric vehicle platform. The waypoint following is achieved with one Velodyne Puck LIDAR sensor and a single Intel NUC as the compute platform.