Apollo
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![[MOOC] Autoware Course - Lecture 1 - Setup the environment](/_next/image?url=%2Fposts-data%2Fnotes%2Fautoware-course%2Flecture1%2Fthumbnail.jpeg&w=640&q=75&dpl=dpl_9PXSsozcwa4aDYEwLhdK1fEH7JmE)
[MOOC] Autoware Course - Lecture 1 - Setup the environment
Lecture 1 notes from the Apex.AI Autoware course: getting the development environment up with Docker, ROS 2, Terminator, and Autoware.Auto, the errors I hit along the way, and how I fixed them.
![[MOOC] Apollo Lessons on Self-Driving Cars](/_next/image?url=%2Fposts-data%2Fnotes%2Fapollo-self-driving-car-course%2Fapollo-series-cover.png&w=640&q=75&dpl=dpl_9PXSsozcwa4aDYEwLhdK1fEH7JmE)
[MOOC] Apollo Lessons on Self-Driving Cars
Course notes from Udacity's Self-Driving Fundamentals, featuring Apollo. What the seven lessons cover, from HD maps and localization through perception, prediction, planning, and control. Every diagram in the series is redrawn.
[MOOC] Apollo Lesson 7: Control
Lesson 7: steering, throttle, and brake that follow the planned trajectory while keeping passengers comfortable. PID, LQR, and model predictive control, with the tradeoffs of each.
[MOOC] Apollo Lesson 6: Planning
Lesson 6: turning a map, a position, and a set of predictions into a trajectory. Routing the world as a graph, Frenet coordinates, path-velocity decoupled planning, and reading an ST graph.
[MOOC] Apollo Lesson 5: Prediction
Lesson 5: predicting what everything else on the road will do next. Model-based against data-driven approaches, lane-sequence prediction, and using an RNN to produce a trajectory for each tracked object.
[MOOC] Apollo Lesson 4: Perception
Lesson 4: turning camera, LiDAR, and radar data into objects. Classification, detection, and segmentation, what each sensor is good and bad at, and why Apollo fuses them rather than trusting one.
[MOOC] Apollo Lesson 3: Localization
Lesson 3: how the vehicle places itself to single-digit-centimetre accuracy. Inertial navigation, GNSS and IMU, RTK, LiDAR and visual localization, and the multi-sensor fusion Apollo settles on.
[MOOC] Apollo Lesson 2: HD Maps
Lesson 2: why a self-driving car needs an HD map rather than the one on your phone. Centimetre precision, lane markings and a 3D road network, how localization rides on top of the map, and how the maps get built.
[MOOC] Apollo Lesson 1: SDC Fundamentals
Lesson 1: what actually makes up a self-driving car. The six levels of autonomy, how a machine driver differs from a human one, and the three layers of the Apollo platform: hardware, the open software stack, and the cloud services.