Autopilot Full Self-Driving Hardware (Neighborhood Short) from Tesla Motors on Vimeo.
The views they provide are (left to right, top to bottom):
- Interior cabin & through windshield
- The vehicle’s left rearward vehicle camera
- The vehicle’s medium range (forward) camera
- The vehicle’s right reward vehicle camera
Related: Tesla’s HW2 (Hardware 2) sensor suite
Object detection:
- Motion flow
- Lane lines (left of vehicle)
- Lane lines (right of vehicle)
- Road flow
- In-path objects
- Road lights
- Objects
- Road signs
The following are my observations. These are not necessarily errors or incorrect, but are things worth mentioning.
My general observations:
- On two lane roads, far left line typically not detected on Medium range camera
- Multiple bounding boxes around the same object
- Rearward objects labeled as “in-path”
- Brake pedal moves, but accelerator pedal does not appear to move
- Slowed down for a crosswalk (0:12)
- Detected pedestrian near road, but did not consider to be in-path (0:41)
- Stopped/slowed down for walkers/joggers near road (0:55)
- Stopped during right turn (1:02)
- Detects the back of road signs as signs (1:23)
- Stopped after right turn (1:33)
- The cameras angles not included are: forward narrow, forward wide, left and right side forward facing, and rear facing
- From the information provided here, we cannot determine whether pedestrians are treated as any other object or separately as a “pedestrian type” object
Errors
- Detected road sign as road light (1:25)
Tesla revealed their current production vehicles are equipped with the necessary hardware for autonomous driving capabilities.
They mention:
- 8 surround cameras providing 360 degree visibility around the car
- 12 ultrasonic sensors
- 1 forward-facing radar unit
- 1 on-board computer
Cameras
- Wide forward camera
- Main forward camera
- Narrow forward camera
- Driver’s side rearward looking side camera
- Passenger’s side rearward looking side camera
- Driver’s side forward looking side camera
- Passenger’s side forward looking side camera
- Rear View camera
Camera type, location, FOV, distance and use:
|
Type |
Mounting Location |
Field of View |
Max Distance |
Function |
| 1 |
Wide forward camera |
Interior: Triple camera, above rear-view mirror |
120 degree fish-eye |
60m (~197 ft.) |
Captures traffic lights, obstacles cutting into the path of travel and objects at close range. Particularly useful in urban, low speed maneuvering |
| 2 |
Main forward camera |
Interior: Triple camera, above rear-view mirror |
Unknown, assumed ~50 degree |
150m (~492 ft.) |
Covers a broad spectrum of use cases |
| 3 |
Narrow forward camera |
Interior: Triple camera, above rear-view mirror |
Unknown, assumed ~25 degree |
250m (~820 ft.) |
Provides a focused, long-range view of distant features. Useful in high-speed operation |
| 4 |
Driver’s side rearward looking side camera |
Exterior: fender badge mounted |
Unknown |
100m (~328 ft.) |
Monitor rear blind spots important for safely changing lanes and merging into traffic |
| 5 |
Passenger’s side rearward looking side camera |
Exterior: fender badge mounted |
Unknown |
100m (~328 ft.) |
Monitor rear blind spots important for safely changing lanes and merging into traffic |
| 6 |
Driver’s side forward looking side camera |
Exterior: B pillar mounted |
90 degree |
80m (~262 ft.) |
Detect cars unexpectedly entering your lane and additional safety when entering intersections with limited visibility |
| 7 |
Passenger’s side forward looking side camera |
Exterior: B pillar mounted |
90 degree |
80m (~262 ft.) |
Detect cars unexpectedly entering your lane and additional safety when entering intersections with limited visibility |
| 8 |
Rear View camera |
Exterior: Hatch latch area mounted |
Unknown |
50m (~164 ft.) |
Backing up safely, contributing member of the Autopilot hardware suite, useful when performing complex parking maneuvers |
Note: locations correspond to Model X locations
Radar
The forward looking radar’s range falls between the Narrow and Main camera’s distance with a max range of 160m (~525ft).
Ultrasound
These are the shortest range sensors, with a max distance of 8m (~26ft)
Computer
NVIDIA Drive PX 2 with more than 40 times the computing power of the previous generation unit in Tesla vehicles
Sources:
https://www.tesla.com/autopilot
Tesla Autopilot 2.0: next gen Autopilot powered by more radar, new triple camera, some equipment already in production
Tesla Motors’ Self-Driving Car “Supercomputer” Powered by NVIDIA DRIVE PX 2 Technology
By default, Google Groups are closed and require membership to email the group. There are cases where this isn’t ideal, such as:
- using the email for social media accounts
- creating a department email that people from other organizations can email
- etc.
If you are using the group to receive public emails these settings.
Permissions > Basic permissions
Settings > Moderation
- Spam messages: Skip the moderation queue and post to the group
The first setting is required and the second optional, but random legitimate messages tend to get caught in the Spam filters.
Excellent introductory video from Google’s Martin Gorner covering the handwritten 0-9 digits recognition problem using the MNIST data set. Code is Python using the Tensorflow library.
He begins with a single layer network, progresses into a multi-layer network and ends with a convolutional neural network, showing how improvements in techniques correspond to better test accuracy.
Covers softmax, sigmoid, ReLU, matrix transformation, convolutional networks, over-fitting, test and training accuracy.
Well worth a watch for beginners and has better explanations than some full courses online.
Note: they figure out the microphone feedback situation around minute 15 or 16.
Computing, technology, general information