Autonomous Vehicles (Self-Driving Cars)

  1. Localization and Mapping
    1. Localization Fundamentals
      1. The Localization Problem
        1. Absolute vs. Relative Positioning
          1. Coordinate Systems and Transformations
            1. Accuracy and Precision Requirements
            2. Localization Challenges
              1. GPS-Denied Environments
                1. Dynamic Environment Changes
                  1. Computational Constraints
                2. High-Definition (HD) Maps
                  1. Map Creation and Generation
                    1. Survey-Grade Mapping Techniques
                      1. Crowdsourced Mapping Approaches
                        1. Automated Map Generation
                        2. Map Content and Features
                          1. Lane-Level Geometry
                            1. Traffic Control Device Locations
                              1. Landmark and Reference Points
                                1. Semantic Annotations
                                2. Map Maintenance and Updates
                                  1. Change Detection Methods
                                    1. Incremental Map Updates
                                      1. Version Control and Distribution
                                      2. Map Data Formats
                                        1. OpenDRIVE Standard
                                          1. Lanelet2 Format
                                            1. Proprietary Map Formats
                                          2. Simultaneous Localization and Mapping (SLAM)
                                            1. SLAM Problem Formulation
                                              1. State Estimation Framework
                                                1. Map Representation Choices
                                                  1. Online vs. Offline SLAM
                                                  2. Visual SLAM
                                                    1. Feature-Based Visual SLAM
                                                      1. Direct Visual SLAM
                                                        1. Monocular vs. Stereo SLAM
                                                        2. LiDAR SLAM
                                                          1. Point Cloud Registration
                                                            1. Scan Matching Techniques
                                                              1. 3D SLAM Algorithms
                                                              2. Loop Closure Detection
                                                                1. Place Recognition Methods
                                                                  1. Graph Optimization
                                                                    1. Drift Correction Techniques
                                                                  2. Localization Techniques and Methods
                                                                    1. GNSS/IMU Integration
                                                                      1. Tightly Coupled Integration
                                                                        1. Loosely Coupled Integration
                                                                          1. Error State Kalman Filtering
                                                                          2. Visual Odometry
                                                                            1. Feature-Based Methods
                                                                              1. Direct Methods
                                                                                1. Stereo Visual Odometry
                                                                                2. LiDAR Odometry
                                                                                  1. Point Cloud Registration
                                                                                    1. Iterative Closest Point (ICP)
                                                                                      1. Normal Distributions Transform (NDT)
                                                                                      2. Map-Based Localization
                                                                                        1. Particle Filter Localization
                                                                                          1. Monte Carlo Localization
                                                                                            1. Map Matching Algorithms
                                                                                            2. Multi-Sensor Localization
                                                                                              1. Sensor Fusion for Localization
                                                                                                1. Robust Localization Methods
                                                                                                  1. Failure Detection and Recovery

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                                                                                              3. Environmental Perception and Scene Understanding

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                                                                                              5. Path Planning and Decision Making