相关论文: Anomaly Detection in Autonomous Driving: A Survey

This document is a document that has written procedures and methods for collecting objects and unstructured dynamic data on the road for the development of object recognition technology for self-driving cars, and outlines the methods of…

Human intuition allows to detect abnormal driving scenarios in situations they never experienced before. Like humans detect those abnormal situations and take countermeasures to prevent collisions, self-driving cars need anomaly detection…

Recent years have witnessed enormous progress in AI-related fields such as computer vision, machine learning, and autonomous vehicles. As with any rapidly growing field, it becomes increasingly difficult to stay up-to-date or enter the…

This paper proposes an extensive overview of safety applications and approaches as it relates to automated driving from the prospectives of sensor configurations, vehicle dynamics modelling, tyre modeling, and estimation approaches. First,…

Autonomous driving technology has advanced significantly, yet detecting driving anomalies remains a major challenge due to the long-tailed distribution of driving events. Existing methods primarily rely on single-modal road condition video…

This paper presents a novel anomaly detection methodology termed Statistical Aggregated Anomaly Detection (SAAD). The SAAD approach integrates advanced statistical techniques with machine learning, and its efficacy is demonstrated through…

In autonomous driving, the combination of AI and vehicular technology offers great potential. However, this amalgamation comes with vulnerabilities to adversarial attacks. This survey focuses on the intersection of Adversarial Machine…

Multi-modal fusion is a fundamental task for the perception of an autonomous driving system, which has recently intrigued many researchers. However, achieving a rather good performance is not an easy task due to the noisy raw data,…

Advances in perception for self-driving cars have accelerated in recent years due to the availability of large-scale datasets, typically collected at specific locations and under nice weather conditions. Yet, to achieve the high safety…

Automatic anomaly detection is a major issue in various areas. Beyond mere detection, the identification of the origin of the problem that produced the anomaly is also essential. This paper introduces a general methodology that can assist…

Designing a controller for autonomous vehicles capable of providing adequate performance in all driving scenarios is challenging due to the highly complex environment and inability to test the system in the wide variety of scenarios which…

Anomaly detection aims to identify observations that deviate from expected behavior. Because anomalous events are inherently sparse, most frameworks are trained exclusively on normal data to learn a single reference model of normality. This…

Vehicle odometry is an essential component of an automated driving system as it computes the vehicle's position and orientation. The odometry module has a higher demand and impact in urban areas where the global navigation satellite system…

Anomaly detection, or outlier detection, is a crucial task in various domains to identify instances that significantly deviate from established patterns or the majority of data. In the context of autonomous driving, the identification of…

To assure that an autonomous car is driving safely on public roads, its object detection module should not only work correctly, but show its prediction confidence as well. Previous object detectors driven by deep learning do not explicitly…

This work presents the development of a lane detection system aimed at assisting the driving of conventional and autonomous vehicles. The system was implemented using traditional computer vision techniques, focusing on robustness and…

Autonomous vehicles (AVs) rely on environment perception and behavior prediction to reason about agents in their surroundings. These perception systems must be robust to adverse weather such as rain, fog, and snow. However, validation of…

Future Connected and Automated Vehicles (CAV), and more generally ITS, will form a highly interconnected system. Such a paradigm is referred to as the Internet of Vehicles (herein Internet of CAVs) and is a prerequisite to orchestrate…

The recent surge in interest in autonomous driving stems from its rapidly developing capacity to enhance safety, efficiency, and convenience. A pivotal aspect of autonomous driving technology is its perceptual systems, where core algorithms…

LiDAR sensors play an important role in the perception stack of modern autonomous driving systems. Adverse weather conditions such as rain, fog and dust, as well as some (occasional) LiDAR hardware fault may cause the LiDAR to produce…