szenergy / szenergy-public-resources

:ledger: This repository is devoted to share data related to the Shell Eco-marathon Autonomous Urban Concept (AUC) challange.

Szenergy public resources

This repository is devoted to share data related to the Shell Eco-marathon Autonomous Urban Concept (AUC) challange.

Table of contents:

• Datasets to download
• Hardware
• Simulations
• Algorithms
• Videos
• Papers

Datasets

• The data is available:

  jkk-research.github.io/#dataset

• The log data is in .bag format, the standard logging format for ROS and it can be also imported to MATLAB. The postprocessed 3d pointcloud data is in .pcd (Point Cloud Data) file format, it is a common format used inside Point Cloud Library (PCL). Also this can be imported easily to MATLAB.

Hardware

During the project several sensor constellations were tested. This link contains the public repositories shared by Szenergy. The latest sensor constellation is visible in the following image. In the top the research-purposed Nissan Leaf, at the bottom the education-purposed Szenergy vehicle is illustrated. This is the current version of the vehicles.

Follow this link to our public drivers.

Image	Type	Device	External link
	GPS	SwiftNav Duro Inertial	github.com/szenergy/duro_gps_driver
	GPS	NovAtel PW7720E1-DDD-RZN-TBE-P1	github.com/szenergy/novatel_gps_driver
	GPS	KVH Geo Fog 3D	github.com/szenergy/kvh_gps_driver
	LIDAR	Velodyne VLP16 Puck	github.com/szenergy/nissan_leaf_ros
	LIDAR	Ouster OS1-64, OS1-128	github.com/szenergy/ouster_example
	LIDAR	Sick LMS111	github.com/clearpathrobotics/lms1xx
	Camera	Stereolabs ZED	github.com/stereolabs/zed-ros-wrapper
	Radar	Continental ARS 408	github.com/szenergy/conti_radar_driver
	Embedded controller	NI CompactRIO	github.com/ni
	Embedded controller	NVIDIA Jetson	github.com/NVIDIA-AI-IOT
	Embedded controller	Commsignia V2X	github.com/Commsignia

Simulations

• Nissan Leaf ROS and ROS2 compatible lgsvl simulator: github.com/szenergy/nissanleaf-lgsvl

Algorithms and utilities

• We contributed to the popular PythonRobotics repository (by Atsushi Sakai) github.com/AtsushiSakai/PythonRobotics. Our example shows how to convert a 2D range measurement (e.g. LIDAR measurement) to occupancy grid map.
• Trajectory following approaches written in C++ with ROS compatibility: multi goal pure-pursuit
• TF publisher from GPS in ROS: github.com/szenergy/szenergy-utility-programs/tree/master/gps_tf_publisher
• Rosbag scripts: github.com/szenergy/szenergy-utility-programs/tree/master/bag_scripts

Videos

Visit youtube.com/szenergyteam or youtube.com/jkk-sze-research for more videos and subscribe if you wish 😉

Description	Link	Image
Real-time road and sidewalk detection	youtu.be/T2qi4pldR-E
Obstacle avoidance and detection	youtu.be/vr9agp8W9Oc
Color 3D pointcloud map (digital twin)	youtu.be/oRzH-grBsKY
Visualization of rosbag LIDAR data	youtu.be/Y2d54KxOrNI
Pointcloud of the Széchenyi Campus (Győr, Hungary)	youtu.be/kTf-VvokQH8
Explanatory video about the autonomous model vehicle (2018)	youtu.be/zWccR52v7JU
Autonomous obstacle avoidance with Nissan Leaf	youtu.be/inBcf-J6LSM
LIDAR test measurements before Shell Eco-marathon Autonomous UrbanConcept	youtu.be/LldFZQLgEfA
Shell Eco-marathon Autonomous UrbanConcept Simulations (Gazebo)	youtu.be/RhMySTGztgU

Papers

• A Clothoid-based Local Trajectory Planner with Extended Kalman Filter - Gergő Ignéczi, Ernő Horváth - IEEE 20th Jubilee World Symposium on Applied Machine Intelligence and Informatics (SAMI) 2022, Poprad, Slovakia
• Hybrid Particle Filter-Particle Swarm Optimization Algorithm and Application to Fuzzy Controlled Servo Systems - Claudiu Pozna, Radu-Emil Precup, Ernő Horváth, Emil M. Petriu - IEEE Transactions on Fuzzy Systems, 2022
• Real-Time LIDAR-Based Urban Road and Sidewalk Detection for Autonomous Vehicles - Ernő Horváth,Claudiu Radu Pozna, Miklós Unger - Sensors, vol. 22, no. 1, p. 194, 2022
• Implementation of a self-developed Model Predictive Control Scheme for Vehicle Parking Maneuvers - Gergő Ignéczi, Ernő Horváth, Dániel Pup - The 1st ISTRC Annual Conference, PDF 2021, Tel Aviv, Israel
• Case Study on the Tactical Level of an Autonomous Vehicle Control - Claudiu Radu Pozna, Csaba Antonya, Ernő Horváth - International Conference on Electrical, Computer, Communications and Mechatronics Engineering (ICECCME), 2021, Mauritius, Mauritius
• Clothoid-based Trajectory Following Approach for Self-driving vehicles - Ernő Horváth, Claudiu Radu Pozna - IEEE 19th World Symposium on Applied Machine Intelligence and Informatics (SAMI), 2021, Herl'any, Slovakia, Virtual
• Development of Point-cloud Processing Algorithm for Self-Driving Challenges - Miklós Unger, Ernő Horváth, Péter Kőrös - IEEE International Conference on Intelligent Engineering Systems (INES), 2020, Reykjavík, Iceland, Virtual
• Self-Driving Vehicle Sensors from One-Seated Experimental to Road-legal Vehicle - Péter Kőrös, Gábor Szakállas, Péter Gulyás, Zoltán Pusztai, Zoltán Szeli, Ernő Horváth - IEEE International Conference on Intelligent Engineering Systems (INES), 2020, Reykjavík, Iceland, Virtual
• Improving the efficiency of neural networks with virtual training data - János Hollósi, Rudolf Krecht, Norbert Markó, Áron Ballagi - Hungarian Journal of Industry and Chemistry, Self-Driving Vehicles Special Issue, PDF 2020, Hungary
• Theoretical background and application of multiple goal pursuit trajectory follower - Ernő Horváth, Claudiu Radu Pozna, Péter Kőrös, Csaba Hajdu, Áron Ballagi - Hungarian Journal of Industry and Chemistry, Self-Driving Vehicles Special Issue, PDF 2020, Hungary
• LIDAR-based Collision-Free Space Estimation Approach - Miklós Unger, Ernő Horváth, Csaba Hajdu - Hungarian Journal of Industry and Chemistry, Self-Driving Vehicles Special Issue, PDF 2020, Hungary
• Towards System-Level Testing with Coverage Guarantees for Autonomous Vehicles - István Majzik, Oszkár Semeráth, Csaba Hajdu, Kristóf Marussy, Zoltán Szatmári, Zoltán Micskei, András Vörös, Aren A. Babikian, Dániel Varró - ACM/IEEE 22nd International Conference on Model Driven Engineering Languages and Systems (MODELS) 2019, Munich, Germany
• Range Sensor-based Occupancy Grid Mapping with Signatures - Ernő Horváth, Csaba Hajdu, Claudiu Radu Pozna, Áron Ballagi - 20th International Carpathian Control Conference (ICCC), 2019, Krakow-Wieliczka, Poland
• Novel Pure-Pursuit Trajectory Following Approaches and their Practical Applications - Ernő Horváth, Csaba Hajdu and Peter Kőrös - 10th IEEE International Conference on InfoCommunications 2019, Naples, Italy
• Improve the Accuracy of Neural Networks using Capsule Layers - János Hollósi, Claudiu Radu Pozna - IEEE 18th International Symposium on Computational Intelligence and Informatics (CINTI), 2018, Budapest, Hungary