Post on 15-Oct-2020
Supercomputing Systems AG Phone +41 43 456 16 00
Technopark 1 Fax +41 43 456 16 10
8005 Zürich www.scs.ch
Vision trifft Realität.
Will robots drive our
cars soon?
Driver assistant systems with FPGA und DSP
Felix Eberli, Department Head, SCS
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Futuristic ideas already 1956
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Driverless car in the 1980’s
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DARPA Challenge – 11.9km after start (5%)
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DARPA Urban Challenge 2007
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Mercedes Benz Versuchsfahrzeug 2013
S-500 “Bertha”
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Google car with laserscanner (2014)
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Tesla Auto Pilot (2015)
https://www.teslamotors.com/de_CH/blog/your-autopilot-has-arrived
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Will robots drive our cars soon?
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But already in series as many driver assistant systems
• ADC (Distronic)
• Blind spot detection
• Break assist
• Pedestrian detection
• Park pilot
• Stop & Go Pilot
• Highway Pilot
• ….
• Lets see
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Sensor View – Radar and Stereo
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SCS company profile
• Founded 1993 and privately owned by Prof. Dr. Anton Gunzinger
• 90+ employees:
Electrical engineers
Software engineers
Physicists
Mathematicians
• Company offices at Technopark Zurich, Switzerland
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SCS Services
Departments
• Embedded & Automotive
• Life Science / Medical
• High Performance Safety
• Embedded
• High Performance Computing
• SW / Public Transport
• SW / Broadcast
• Measure & Decide
Embedded & Automotive
• Feasibility studies
• Hardware (Specification, Design, Schematics, Layout, Production)
• Firmware/IP (FPGA, DSP)
• Software (Drivers, Host SW – Windows/Linux)
• Optimizations (ARM, DSP, EVE, Neon)
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SCS Embedded & Automotive Department
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Why autonomous driving? - Traffic Must Become Safer
50% of all accidents with injured occur
in urban environments.
CH: 269 fatalities in 2014
0
5000
10000
15000
20000
0
100000
200000
300000
400000
500000
600000
1970 1980 1990 2000 2010
4002
391.000
Injured/ Year
Fatalities / Year
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The Principle of Stereo Vision
Left Image Right Image Disparity Image
Challenge: on-line calibration to guarantee
perfect results for the whole lifetime of the car.
Color encoded distance:
close ….. far
H.Hirschmüller: "Accurate and Efficient Stereo Processing by Semi-Global Matching and Mutual
Information", DAGM 2005, CVPR 2005
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The Principle of Stereo Vision
2008 world-wide first real-time
implementation of Semi-Global
Matching on an automotive compliant
FPGA
S.Gehrig, F.Eberli, T.Meyer, “A Real-time Low-Power Stereo Vision Engine Using Semi-Global
Matching”,
ICVS 2009 (Best Paper Award)
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Local Stereo vs. Daimler Global Stereo
Advantages of Daimler-Stereo Semi-Global Matching (SGM)
Significantly more 3D measurents
Significantly fewer Measurement errors in low-contrast regions
robust against periodic structures
SGM Correlation
Color encoded distance:
close ….. far
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Stereo Results in Real-Time
Baseline 25cm, 45° horizontal field of view
Color encoded distance:
close ….. far
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Sensors in Modern Cars
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Comparison Tesla – Daimler Sensors (2014)
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Is Stereo-Based Driver Assistance a Solved Problem?
If we want Vision to become an all-day all-night sensor for safety
critical systems, we should be able to work under those adverse
conditions!
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Current research focuses
on a deeper understanding of the scene
• https://www.cityscapes-dataset.com/examples/
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Outlook Self Driving Cars – Additional Links
• BMW kündigt selbstlenkende Fahrzeuge für 2021 an http://www.zdnet.de/88269245/bmw-kuendigt-selbstlenkende-fahrzeuge-fuer-2021-an/
• Sieben Firmen testen zurzeit selbstlenkende Autos auf Kaliforniens Straßen
• Mercedes Future Truck 2025
• Chris Urmson – Google Director Self-Driving-Cars https://youtu.be/Uj-rK8V-rik
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Baby you can drive my car…
Source: https://youtu.be/H0jJAPvN2uI?t=18
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SCS Stereo Vision Evaluation Plattform
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Output of the SCS Stereo Vision Evaluation Plattform
More info: www.scs.ch/fpgabox
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Example measurement accuracy 3:
Distance measured = 10.549m +/- 0.022m (Baselength = 25cm)
Supercomputing Systems AG Phone +41 43 456 16 00
Technopark 1 Fax +41 43 456 16 10
8005 Zürich www.scs.ch
Vision meets reality.
Supercomputing Systems AG
felix.eberli@scs.ch +41 43 456 16 19