Deep Learning Based Steering Angle Prediction with LiDAR for Autonomous Vehicle

End to end control using steering angle prediction of autonomous vehicle is the research problem which has been solved using camera based sensor. In our work we have developed deep learning architecture for solving steering angle prediction using real time LiDAR data. Because LiDAR sensor gives 360 degree view of autonomous vehicle. Camera is not useful for various lighting condition specially in night time while LiDAR sensor is independent of various light scenarios. We have recorded LiDAR data and corresponding steering angle and proposed small benchmark dataset for research. We have performed our experiment on recorded dataset.