TUMFTM

This repository contains multiple approaches for generating global racetrajectories.

Zero-Drift Point Cloud Mapping using Map Priors

This repository contains center lines (x- and y-coordinates), track widths and race lines for over 20 race tracks (F1 and DTM) all over the world

RGB-L: An Extension to Integrate LiDAR Data into ORB-SLAM3

TUM Roborace Team Software Stack - Path tracking control, velocity control, curvature control and state estimation.

Local trajectory planner based on a multilayer graph framework for autonomous race vehicles.

An Ethical Trajectory Planning Algorithm for Autonomous Vehicles

Carla 0.9.15 and Autoware Universe Humble

Multi - LiDAR-to-LiDAR calibration framework for ROS2 and non-ROS applications

Useful functions used for path and trajectory planning at TUM/FTM

A highly efficient, CUDA-accelerated framework for Fast, Accurate, and Robust LiDAR-Inertial Odometry.

This repository contains a quasi-steady-state lap time simulation implemented in Python. It can be used to evaluate the effect of various vehicle parameters on lap time and energy consumption.

Georeferencing of Point Cloud Maps

TUM Roborace Team Software Stack - Vehicle Simulation

C++ Implementation of a Multibody Vehicle Dynamics Simulation

ROS 2 Autoware Tool for Map Georeferencing and OSM Fusion

This repository contains a race simulation to determine a race strategy for motorsport circuit races. Race strategy in this context means the determination of pit stops.

This is the github Repository that belongs to the lecture "Artificial Intelligence in Automotive Technology" from the Institute of Automotive Technology of the Technical University of Munich

Multi-Modal Sensor Fusion and Object Tracking for Autonomous Racing

A graph neural network for the segmentation and object detection in radar point clouds.

Dual Perspective Fusion Transformer for Camera-Radar-based Object Detection

3D-PointMass-EKF for State Estimation coupled with STM-UKF for Side Slip Angle Estimation

Development Kit for the MAN TruckScenes Dataset

A toolkit for extracting, manipulating, and evaluating point clouds and 3D spatial maps. Includes functions for processing, analyzing, and visualizing point clouds, designed to streamline...

Optimizes (Maximizes) the velocity profile for a vehicle with respect to physical constraints (e.g., power, force, combined acceleration, ...). Takes into account a variable friction potential...

TUM Roborace Team Software Stack - Example Vehicle

LiDAR-to-LiDAR Calibration

SQLite database containing Formula 1 lap and race timing information for the seasons 2014 - 2019

Electrochemical lithium-ion battery model of reduced-order to predict unmeasurable cell states for fast charging control in real time. Methods for parameterization of the model based on half and...