Airsim install

[TOC] Build AirSim on Linux Ubuntu 16.04 LTS Install and Build Make sure you are registered with Epic Games. This is required to get source code access for Unreal Engine. Clone Unreal in your favorite folder and build it (this may take a while!). Note: We only support Unreal 4.18 at present. bash # go…

安装Gym-TORCS

[TOC] 关于Gym-TORCS Gym-TORCS是TORCS领域的强化学习(RL)环境,具有OpenAI-gym-like接口。 TORCS是最近在几项AI研究中用作RL基准任务的开源现实赛车模拟器。 安装xautomation: sudo apt-get install xautomation 安装mujoco-py: git clone https://github.com/openai/mujoco-py cd mujoco-py pip3 install -e . –no-cache –user 安装OpenAI-Gym:https://github.com/openai/gym sudo apt-get install -y python-numpy python-dev cmake zlib1g-dev libjpeg-dev xvfb libav-tools xorg-dev python-opengl libboost-all-dev libsdl2-dev swig sudo pip install ‘gym[all]‘ 安装Gym-TORCS:https://github.com/ugo-nama-kun/gym_torcs git clone https://github.com/ugo-nama-kun/gym_torcs.git cd /home/yyy/gym_torcs/vtorcs-RL-color sudo apt-get install libglib2.0-dev libgl1-mesa-dev libglu1-mesa-dev freeglut3-dev…

论文研读:A GPS and Laser-based Localization for Urban and Non-Urban Outdoor Environments

众所周知,在城市环境里,由于高楼大厦,会有多径效应的影响,以至于GPS测量出现较大的误差。在自动驾驶中,视觉定位、激光雷达定位以及GPS定位中,只有GPS是属于绝对定位的,其它定位方式都需要在结构化的环境下提取相应的环境特征,一旦到达特征比较稀疏的环境,很容易出现系统失效的问题,比如激光雷达定位,如果是在十字路口,可能环境特征比较少,就会定位出错。再比如如果自动驾驶车被周围的高大巴士挡住,那也容易出现问题。因此,可以预见,GPS是必不可少的,对应自动驾驶来说。如何从数据源去解决多径效应,也许也是值得研究的问题。最近,笔者阅读了一篇关于融合定位的文章,与大家一起分享。 Abstract— This paper introduces a localization based on GPS and laser measurements for urban and non-urban outdoor environments. In this approach, the GPS pose is Kalman filtered using wheel odometry and inertial data and tightly integrated into a Monte Carlo Localization based on 3D laser range data and a line feature reference map. By…