相关论文: Data-driven Camera and Lidar Simulation Models for…

Simulation models for perception sensors are integral components of automotive simulators used for the virtual Verification and Validation (V\&V) of Autonomous Driving Systems (ADS). These models also serve as powerful tools for generating…

Simulation systems have become an essential component in the development and validation of autonomous driving technologies. The prevailing state-of-the-art approach for simulation is to use game engines or high-fidelity computer graphics…

One of the main paths towards the reduction of traffic accidents is the increase in vehicle safety through driver assistance systems or even systems with a complete level of autonomy. In these types of systems, tasks such as obstacle…

In the autonomous driving domain, data collection and annotation from real vehicles are expensive and sometimes unsafe. Simulators are often used for data augmentation, which requires realistic sensor models that are hard to formulate and…

This paper addresses the problem of data-driven modeling and verification of perception-based autonomous systems. We assume the perception model can be decomposed into a canonical model (obtained from first principles or a simulator) and a…

Realistic vehicle sensor simulation is an important element in developing autonomous driving. As physics-based implementations of visual sensors like LiDAR are complex in practice, data-based approaches promise solutions. Using pairs of…

There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…

In the foreseeable future, autonomous vehicles will require human assistance in situations they can not resolve on their own. In such scenarios, remote assistance from a human can provide the required input for the vehicle to continue its…

Autonomous vehicles rely on their perception systems to acquire information about their immediate surroundings. It is necessary to detect the presence of other vehicles, pedestrians and other relevant entities. Safety concerns and the need…

We tackle the problem of producing realistic simulations of LiDAR point clouds, the sensor of preference for most self-driving vehicles. We argue that, by leveraging real data, we can simulate the complex world more realistically compared…

Autonomous systems are becoming increasingly prevalent in new vehicles. Due to their environmental friendliness and their remarkable capability to significantly enhance road safety, these vehicles have gained widespread recognition and…

Simulation is an integral part in the process of developing autonomous vehicles and advantageous for training, validation, and verification of driving functions. Even though simulations come with a series of benefits compared to real-world…

3D LiDAR sensors are indispensable for the robust vision of autonomous mobile robots. However, deploying LiDAR-based perception algorithms often fails due to a domain gap from the training environment, such as inconsistent angular…

Simulation-based testing is widely used to assess the reliability of Autonomous Driving Systems (ADS), but its effectiveness is limited by the operational design domain (ODD) conditions available in such simulators. To address this…

Simulating realistic sensors is a challenging part in data generation for autonomous systems, often involving carefully handcrafted sensor design, scene properties, and physics modeling. To alleviate this, we introduce a pipeline for…

Robust training and validation of Autonomous Driving Systems (ADS) require massive, diverse datasets. Proprietary data collected by Autonomous Vehicle (AV) fleets, while high-fidelity, are limited in scale, diversity of sensor…

Autonomous vehicles were experiencing rapid development in the past few years. However, achieving full autonomy is not a trivial task, due to the nature of the complex and dynamic driving environment. Therefore, autonomous vehicles are…

With the rapid advancements of sensor technology and deep learning, autonomous driving systems are providing safe and efficient access to intelligent vehicles as well as intelligent transportation. Among these equipped sensors, the radar…

Scalable systems for automated driving have to reliably cope with an open-world setting. This means, the perception systems are exposed to drastic domain shifts, like changes in weather conditions, time-dependent aspects, or geographic…

Ensuring the safety of autonomous robots, such as self-driving vehicles, requires extensive testing across diverse driving scenarios. Simulation is a key ingredient for conducting such testing in a cost-effective and scalable way. Neural…