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LiDAR sensors are used in autonomous driving applications to accurately perceive the environment. However, they are affected by adverse weather conditions such as snow, fog, and rain. These everyday phenomena introduce unwanted noise into…
Lidar sensors are often used in mobile robots and autonomous vehicles to complement camera, radar and ultrasonic sensors for environment perception. Typically, perception algorithms are trained to only detect moving and static objects as…
This work addresses the challenging task of LiDAR-based 3D object detection in foggy weather. Collecting and annotating data in such a scenario is very time, labor and cost intensive. In this paper, we tackle this problem by simulating…
Because 3D structure of a roadway environment can be characterized directly by a Light Detection and Ranging (LiDAR) sensors, they can be used to obtain exceptional situational awareness for assitive and autonomous driving systems. Although…
Autonomous vehicles rely on a variety of sensors to gather information about their surrounding. The vehicle's behavior is planned based on the environment perception, making its reliability crucial for safety reasons. The active LiDAR…
Automated vehicles require an accurate perception of their surroundings for safe and efficient driving. Lidar-based object detection is a widely used method for environment perception, but its performance is significantly affected by…
Lidar-based object detectors are critical parts of the 3D perception pipeline in autonomous navigation systems such as self-driving cars. However, they are known to be sensitive to adverse weather conditions such as rain, snow and fog due…
Pedestrians are among the most endangered traffic participants in road traffic. While pedestrian detection in nominal conditions is well established, the sensor and, therefore, the pedestrian detection performance degrades under adverse…
3D object detection is a central task for applications such as autonomous driving, in which the system needs to localize and classify surrounding traffic agents, even in the presence of adverse weather. In this paper, we address the problem…
Lidar sensors are frequently used in environment perception for autonomous vehicles and mobile robotics to complement camera, radar, and ultrasonic sensors. Adverse weather conditions are significantly impacting the performance of…
Estimating and understanding the surroundings of the vehicle precisely forms the basic and crucial step for the autonomous vehicle. The perception system plays a significant role in providing an accurate interpretation of a vehicle's…
LiDAR-based vision systems are integral for 3D object detection, which is crucial for autonomous navigation. However, they suffer from performance degradation in adverse weather conditions due to the quality deterioration of LiDAR point…
Enhancing the robustness of object detection systems under adverse weather conditions is crucial for the advancement of autonomous driving technology. This study presents a novel approach leveraging the diffusion model Instruct Pix2Pix to…
Autonomous driving at level five does not only means self-driving in the sunshine. Adverse weather is especially critical because fog, rain, and snow degrade the perception of the environment. In this work, current state of the art light…
Autonomous vehicles rely on LiDAR sensors to perceive the environment. Adverse weather conditions like rain, snow, and fog negatively affect these sensors, reducing their reliability by introducing unwanted noise in the measurements. In…
In automated driving, object detection is crucial for perceiving the environment. Although deep learning-based detectors offer high performance, their black-box nature complicates safety assurance. We propose a novel methodology to analyze…
This paper aims to introduce a method for simulating with a real time performance the automotive LIDAR disturbance by dust clouds caused by natural phenomena, mechanical or man-made processes like a traveling vehicle. In this study, we are…
The vehicle's perception sensors radar, lidar and camera, which must work continuously and without restriction, especially with regard to automated/autonomous driving, can lose performance due to unfavourable weather conditions. This paper…
This article focuses on analyzing the performance of a typical time-of-flight (ToF) LiDAR under fog environment. By controlling the fog density within CEREMA Adverse Weather Facility 1 , the relations between the ranging performance and…
LiDAR sensors used in autonomous driving applications are negatively affected by adverse weather conditions. One common, but understudied effect, is the condensation of vehicle gas exhaust in cold weather. This everyday phenomenon can…