# afondiel/self-driving-cars-specialization architecture > Architecture diagram of the GitHub repository afondiel/self-driving-cars-specialization, generated by GitDiagram from its file tree, README and a sample of source files (last updated 2026-09-30). It is an AI-made overview: check details against the source. - Interactive diagram: https://gitdiagram.com/afondiel/self-driving-cars-specialization - Repository: https://github.com/afondiel/self-driving-cars-specialization ## Overview This repository is a study-resource collection for the University of Toronto Self-Driving Cars Specialization, not an autonomous-driving runtime. A learner follows four course curricula through notes and supporting resources: vehicle architecture and control, state estimation and localization, visual perception, and motion planning. The README documents the course topics and links each course to its weekly notes. The tree also contains course labs and reference materials; their detailed relationships to particular topics are not established by the excerpts, so they are shown as course resources without inferred workflow edges. Main entry points: [`Course4-Motion-Planning-for-Self-Driving-Cars`](https://github.com/afondiel/self-driving-cars-specialization/tree/main/Course4-Motion-Planning-for-Self-Driving-Cars) (Planning Curriculum), [`Course1-Introduction-to-Self-Driving-Cars`](https://github.com/afondiel/self-driving-cars-specialization/tree/main/Course1-Introduction-to-Self-Driving-Cars) (Vehicle Foundations), [`Course2-State-Estimation-and-Localization-for-Self-Driving-Cars`](https://github.com/afondiel/self-driving-cars-specialization/tree/main/Course2-State-Estimation-and-Localization-for-Self-Driving-Cars) (Estimation Curriculum), [`Course3-Visual-Perception-for-Self-Driving-Cars`](https://github.com/afondiel/self-driving-cars-specialization/tree/main/Course3-Visual-Perception-for-Self-Driving-Cars) (Perception Curriculum) ## Diagram (Mermaid) ```mermaid flowchart TD subgraph group_intro["Introduction"] node_course1["Vehicle Foundations"] node_architecture["Autonomy Architecture"] node_safety["Safety Assurance"] node_vehicle_models["Vehicle Models"] node_vehicle_control["Vehicle Control"] end subgraph group_estimation["State Estimation"] node_course2["Estimation Curriculum"] node_least_squares["Least Squares"] node_kalman["Kalman Filters"] node_gnss_ins["GNSS INS"] node_lidar_estimation["LIDAR Estimation"] end subgraph group_perception["Visual Perception"] node_course3["Perception Curriculum"] node_visual_geometry["3D Vision"] node_visual_features["Visual Features"] node_object_detection["Object Detection"] node_segmentation["Segmentation"] node_stereo_helper["Stereo Image Helper"] end subgraph group_planning["Motion Planning"] node_course4["Planning Curriculum"] node_planning_problem["Planning Problem"] node_mapping["Planning Maps"] node_mission["Mission Planning"] node_behavior["Behavior Planning"] node_reactive["Reactive Planning"] end node_learner(("Learner")) node_learner -->|"studies"| node_course1 node_learner -->|"studies"| node_course2 node_learner -->|"studies"| node_course3 node_learner -->|"studies"| node_course4 node_course1 -->|"covers"| node_architecture node_course1 -->|"covers"| node_safety node_course1 -->|"covers"| node_vehicle_models node_course1 -->|"covers"| node_vehicle_control node_course2 -->|"covers"| node_least_squares node_course2 -->|"covers"| node_kalman node_course2 -->|"covers"| node_gnss_ins node_course2 -->|"covers"| node_lidar_estimation node_course3 -->|"covers"| node_visual_geometry node_course3 -->|"covers"| node_visual_features node_course3 -->|"covers"| node_object_detection node_course3 -->|"covers"| node_segmentation node_course4 -->|"covers"| node_planning_problem node_course4 -->|"covers"| node_mapping node_course4 -->|"covers"| node_mission node_course4 -->|"covers"| node_behavior node_course4 -->|"covers"| node_reactive click node_course1 "https://github.com/afondiel/self-driving-cars-specialization/tree/main/Course1-Introduction-to-Self-Driving-Cars" click node_architecture "https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course1-Introduction-to-Self-Driving-Cars/course1-w2-notes.md" click node_safety "https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course1-Introduction-to-Self-Driving-Cars/course1-w3-notes.md" click node_vehicle_models "https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course1-Introduction-to-Self-Driving-Cars/course1-w4-notes.md" click node_vehicle_control "https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course1-Introduction-to-Self-Driving-Cars/course1-w5-notes.md" click node_course2 "https://github.com/afondiel/self-driving-cars-specialization/tree/main/Course2-State-Estimation-and-Localization-for-Self-Driving-Cars" click node_least_squares "https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course2-State-Estimation-and-Localization-for-Self-Driving-Cars/course2-w1-notes.md" click node_kalman "https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course2-State-Estimation-and-Localization-for-Self-Driving-Cars/course2-w2-notes.md" click node_gnss_ins "https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course2-State-Estimation-and-Localization-for-Self-Driving-Cars/course2-w3-notes.md" click node_lidar_estimation "https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course2-State-Estimation-and-Localization-for-Self-Driving-Cars/course2-w4-notes.md" click node_course3 "https://github.com/afondiel/self-driving-cars-specialization/tree/main/Course3-Visual-Perception-for-Self-Driving-Cars" click node_visual_geometry "https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course3-Visual-Perception-for-Self-Driving-Cars/course3-w1-notes.md" click node_visual_features "https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course3-Visual-Perception-for-Self-Driving-Cars/course3-w2-notes.md" click node_object_detection "https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course3-Visual-Perception-for-Self-Driving-Cars/course3-w4-notes.md" click node_segmentation "https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course3-Visual-Perception-for-Self-Driving-Cars/course3-w5-notes.md" click node_stereo_helper "https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course3-Visual-Perception-for-Self-Driving-Cars/resources/w1/lab/files_management.py" click node_course4 "https://github.com/afondiel/self-driving-cars-specialization/tree/main/Course4-Motion-Planning-for-Self-Driving-Cars" click node_planning_problem "https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course4-Motion-Planning-for-Self-Driving-Cars/course4-w1-notes.md" click node_mapping "https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course4-Motion-Planning-for-Self-Driving-Cars/course4-w2-notes.md" click node_mission "https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course4-Motion-Planning-for-Self-Driving-Cars/course4-w3-notes.md" click node_behavior "https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course4-Motion-Planning-for-Self-Driving-Cars/course4-w5-notes.md" click node_reactive "https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course4-Motion-Planning-for-Self-Driving-Cars/course4-w6-notes.md" classDef toneNeutral fill:#f8fafc,stroke:#334155,stroke-width:1.5px,color:#0f172a classDef toneBlue fill:#dbeafe,stroke:#2563eb,stroke-width:1.5px,color:#172554 classDef toneAmber fill:#fef3c7,stroke:#d97706,stroke-width:1.5px,color:#78350f classDef toneMint fill:#dcfce7,stroke:#16a34a,stroke-width:1.5px,color:#14532d classDef toneRose fill:#ffe4e6,stroke:#e11d48,stroke-width:1.5px,color:#881337 classDef toneIndigo fill:#e0e7ff,stroke:#4f46e5,stroke-width:1.5px,color:#312e81 classDef toneTeal fill:#ccfbf1,stroke:#0f766e,stroke-width:1.5px,color:#134e4a class node_course1,node_architecture,node_safety,node_vehicle_models,node_vehicle_control toneBlue class node_course2,node_least_squares,node_kalman,node_gnss_ins,node_lidar_estimation toneAmber class node_course3,node_visual_geometry,node_visual_features,node_object_detection,node_segmentation,node_stereo_helper toneMint class node_course4,node_planning_problem,node_mapping,node_mission,node_behavior,node_reactive toneRose class node_learner toneIndigo ``` ## Components ### Introduction - [Vehicle Foundations](https://github.com/afondiel/self-driving-cars-specialization/tree/main/Course1-Introduction-to-Self-Driving-Cars): `Course1-Introduction-to-Self-Driving-Cars` - [Autonomy Architecture](https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course1-Introduction-to-Self-Driving-Cars/course1-w2-notes.md): `Course1-Introduction-to-Self-Driving-Cars/course1-w2-notes.md` - [Safety Assurance](https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course1-Introduction-to-Self-Driving-Cars/course1-w3-notes.md): `Course1-Introduction-to-Self-Driving-Cars/course1-w3-notes.md` - [Vehicle Models](https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course1-Introduction-to-Self-Driving-Cars/course1-w4-notes.md): `Course1-Introduction-to-Self-Driving-Cars/course1-w4-notes.md` - [Vehicle Control](https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course1-Introduction-to-Self-Driving-Cars/course1-w5-notes.md): `Course1-Introduction-to-Self-Driving-Cars/course1-w5-notes.md` ### State Estimation - [Estimation Curriculum](https://github.com/afondiel/self-driving-cars-specialization/tree/main/Course2-State-Estimation-and-Localization-for-Self-Driving-Cars): `Course2-State-Estimation-and-Localization-for-Self-Driving-Cars` - [Least Squares](https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course2-State-Estimation-and-Localization-for-Self-Driving-Cars/course2-w1-notes.md): `Course2-State-Estimation-and-Localization-for-Self-Driving-Cars/course2-w1-notes.md` - [Kalman Filters](https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course2-State-Estimation-and-Localization-for-Self-Driving-Cars/course2-w2-notes.md): `Course2-State-Estimation-and-Localization-for-Self-Driving-Cars/course2-w2-notes.md` - [GNSS INS](https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course2-State-Estimation-and-Localization-for-Self-Driving-Cars/course2-w3-notes.md): `Course2-State-Estimation-and-Localization-for-Self-Driving-Cars/course2-w3-notes.md` - [LIDAR Estimation](https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course2-State-Estimation-and-Localization-for-Self-Driving-Cars/course2-w4-notes.md): `Course2-State-Estimation-and-Localization-for-Self-Driving-Cars/course2-w4-notes.md` ### Visual Perception - [Perception Curriculum](https://github.com/afondiel/self-driving-cars-specialization/tree/main/Course3-Visual-Perception-for-Self-Driving-Cars): `Course3-Visual-Perception-for-Self-Driving-Cars` - [3D Vision](https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course3-Visual-Perception-for-Self-Driving-Cars/course3-w1-notes.md): `Course3-Visual-Perception-for-Self-Driving-Cars/course3-w1-notes.md` - [Visual Features](https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course3-Visual-Perception-for-Self-Driving-Cars/course3-w2-notes.md): `Course3-Visual-Perception-for-Self-Driving-Cars/course3-w2-notes.md` - [Object Detection](https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course3-Visual-Perception-for-Self-Driving-Cars/course3-w4-notes.md): `Course3-Visual-Perception-for-Self-Driving-Cars/course3-w4-notes.md` - [Segmentation](https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course3-Visual-Perception-for-Self-Driving-Cars/course3-w5-notes.md): `Course3-Visual-Perception-for-Self-Driving-Cars/course3-w5-notes.md` - [Stereo Image Helper](https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course3-Visual-Perception-for-Self-Driving-Cars/resources/w1/lab/files_management.py): `Course3-Visual-Perception-for-Self-Driving-Cars/resources/w1/lab/files_management.py` ### Motion Planning - [Planning Curriculum](https://github.com/afondiel/self-driving-cars-specialization/tree/main/Course4-Motion-Planning-for-Self-Driving-Cars): `Course4-Motion-Planning-for-Self-Driving-Cars` - [Planning Problem](https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course4-Motion-Planning-for-Self-Driving-Cars/course4-w1-notes.md): `Course4-Motion-Planning-for-Self-Driving-Cars/course4-w1-notes.md` - [Planning Maps](https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course4-Motion-Planning-for-Self-Driving-Cars/course4-w2-notes.md): `Course4-Motion-Planning-for-Self-Driving-Cars/course4-w2-notes.md` - [Mission Planning](https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course4-Motion-Planning-for-Self-Driving-Cars/course4-w3-notes.md): `Course4-Motion-Planning-for-Self-Driving-Cars/course4-w3-notes.md` - [Behavior Planning](https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course4-Motion-Planning-for-Self-Driving-Cars/course4-w5-notes.md): `Course4-Motion-Planning-for-Self-Driving-Cars/course4-w5-notes.md` - [Reactive Planning](https://github.com/afondiel/self-driving-cars-specialization/blob/main/Course4-Motion-Planning-for-Self-Driving-Cars/course4-w6-notes.md): `Course4-Motion-Planning-for-Self-Driving-Cars/course4-w6-notes.md` ### Other components - **Learner** ## Connections - Learner → Vehicle Foundations: studies (evidence: `README.md`) - Learner → Estimation Curriculum: studies (evidence: `README.md`) - Learner → Perception Curriculum: studies (evidence: `README.md`) - Learner → Planning Curriculum: studies (evidence: `README.md`) - Vehicle Foundations → Autonomy Architecture: covers (evidence: `README.md`) - Vehicle Foundations → Safety Assurance: covers (evidence: `README.md`) - Vehicle Foundations → Vehicle Models: covers (evidence: `README.md`) - Vehicle Foundations → Vehicle Control: covers (evidence: `README.md`) - Estimation Curriculum → Least Squares: covers (evidence: `README.md`) - Estimation Curriculum → Kalman Filters: covers (evidence: `README.md`) - Estimation Curriculum → GNSS INS: covers (evidence: `README.md`) - Estimation Curriculum → LIDAR Estimation: covers (evidence: `README.md`) - Perception Curriculum → 3D Vision: covers (evidence: `README.md`) - Perception Curriculum → Visual Features: covers (evidence: `README.md`) - Perception Curriculum → Object Detection: covers (evidence: `README.md`) - Perception Curriculum → Segmentation: covers (evidence: `README.md`) - Planning Curriculum → Planning Problem: covers (evidence: `README.md`) - Planning Curriculum → Planning Maps: covers (evidence: `README.md`) - Planning Curriculum → Mission Planning: covers (evidence: `README.md`) - Planning Curriculum → Behavior Planning: covers (evidence: `README.md`) - Planning Curriculum → Reactive Planning: covers (evidence: `README.md`)