相关论文: Exploring Credibility Scoring Metrics of Perceptio…

Autonomous vehicles often perceive the environment by feeding sensor data to a learned detector algorithm, then feeding detections to a multi-object tracker that models object motions over time. Probabilistic models of multi-object trackers…

We develop a novel framework to assess the risk of misperception in a traffic sign classification task in the presence of exogenous noise. We consider the problem in an autonomous driving setting, where visual input quality gradually…

The usage of environment sensor models for virtual testing is a promising approach to reduce the testing effort of autonomous driving. However, in order to deduce any statements regarding the performance of an autonomous driving function…

Autonomous driving (AD) systems are often built and tested in a modular fashion, where the performance of different modules is measured using task-specific metrics. These metrics should be chosen so as to capture the downstream impact of…

Autonomous Vehicle decisions rely on multimodal prediction models that account for multiple route options and the inherent uncertainty in human behavior. However, models can suffer from mode collapse, where only the most likely mode is…

Perception is a critical component of high-integrity applications of robotics and autonomous systems, such as self-driving vehicles. In these applications, failure of perception systems may put human life at risk, and a broad adoption of…

Commonly used metrics for evaluation of object detection systems (precision, recall, mAP) do not give complete information about their suitability of use in safety critical tasks, like obstacle detection for collision avoidance in…

Methodologies for incorporating the uncertainties characteristic of data-driven object detectors into object tracking algorithms are explored. Object tracking methods rely on measurement error models, typically in the form of measurement…

We present a novel method for testing the safety of self-driving vehicles in simulation. We propose an alternative to sensor simulation, as sensor simulation is expensive and has large domain gaps. Instead, we directly simulate the outputs…

Roadside perception systems are increasingly crucial in enhancing traffic safety and facilitating cooperative driving for autonomous vehicles. Despite rapid technological advancements, a major challenge persists for this newly arising…

Perception serves as a critical component in the functionality of autonomous agents. However, the intricate relationship between perception metrics and robotic metrics remains unclear, leading to ambiguity in the development and fine-tuning…

Safety is a long-standing and the final pursuit in the development of autonomous driving systems, with a significant portion of safety challenge arising from perception. How to effectively evaluate the safety as well as the reliability of…

Accurate trajectory prediction is essential for the safe operation of autonomous vehicles in real-world environments. Even well-trained machine learning models may produce unreliable predictions due to discrepancies between training data…

Autonomous driving perception techniques are typically based on supervised machine learning models that are trained on real-world street data. A typical training process involves capturing images with a single car model and windshield…

Our transportation world is rapidly transforming induced by an ever increasing level of autonomy. However, to obtain license of fully automated vehicles for widespread public use, it is necessary to assure safety of the entire system, which…

Driver observation models are rarely deployed under perfect conditions. In practice, illumination, camera placement and type differ from the ones present during training and unforeseen behaviours may occur at any time. While observing the…

High-definition maps provide precise environmental information essential for prediction and planning in autonomous driving systems. Due to the high cost of labeling and maintenance, recent research has turned to online HD map construction…

The ability to detect objects regardless of image distortions or weather conditions is crucial for real-world applications of deep learning like autonomous driving. We here provide an easy-to-use benchmark to assess how object detection…

This paper presents a novel monitoring framework that infers the level of collision risk for autonomous vehicles (AVs) based on their object detection performance. The framework takes two sets of predictions from different algorithms and…

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…