Farkas, Péter and Török, Bence and Aradi, Szilárd (2025) Integrating a Stereo Vision System on the F1Tenth Platform for Enhanced Perception. ENGINEERING PROCEEDINGS, 113 (1). ISSN 2673-4591 10.3390/engproc2025113010

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Abstract

During the development of vehicle control algorithms, effective real-world validation is crucial. Model vehicle platforms provide a cost-effective and accessible method for such testing. The open-source F1Tenth project is a popular choice, but its reliance on lidar sensors limits certain applications. To enable more universal environmental perception, integrating a stereo camera system could be advantageous, although existing software packages do not yet support this functionality. Therefore, our research focuses on developing a modular software architecture for the F1Tenth platform, incorporating real-time stereo vision-based environment perception, robust state representation, and clear actuator interfaces. The system simplifies the integration and testing of control algorithms, while minimizing the simulation-to-reality gap. The framework’s operation is demonstrated through a real-world control problem. Environmental sensing, representation, and the control method combine classical and deep learning techniques to ensure real-time performance and robust operation. Our platform facilitates real-world testing and is suitable for validating research projects.

Item Type:	Article
Subjects:	Q Science > QA Mathematics and Computer Science > QA75 Electronic computers. Computer science / számítástechnika, számítógéptudomány
Divisions:	Systems and Control Lab
SWORD Depositor:	MTMT Injector
Depositing User:	MTMT Injector
Date Deposited:	20 Jan 2026 11:52
Last Modified:	20 Jan 2026 11:52
URI:	https://eprints.sztaki.hu/id/eprint/11068

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