Analysis of Automotive Camera Sensor Noise Factors

Abstract

<p>Assisted and automated driving functions are increasingly deployed to support improved safety, efficiency, and enhance driver experience. However, there are still key technical challenges that need to be overcome, such as the degradation of perception sensor data due to noise factors. The quality of data being generated by sensors can directly impact the planning and control of the vehicle, which can affect the vehicle safety. This work builds on a recently proposed framework, analysing noise factors on automotive LiDAR sensors, and deploys it to camera sensors, focusing on the specific disturbed sensor outputs via a detailed analysis and classification of automotive camera specific noise sources (30 noise factors are identified and classified in this work). Moreover, the noise factor analysis has recognised two omnipresent and independent noise factors (i.e. obstruction and windshield distortion). These noise factors have been modelled to generate noisy camera data; their impact on the perception step, based on deep neural networks, has been evaluated when the noise factors are applied independently and simultaneously. It is demonstrated that the performance degradation from the combination of noise factors is not simply the accumulated performance degradation from each single factor, which raises the importance of including the simultaneous analysis of multiple noise factors. Thus, the framework can support and enhance the use of simulation for development and testing of automated vehicles through careful consideration of the noise factors affecting camera data. </p>

Robust Decision-Making for the Reactive Collision Avoidance of Autonomous Ships against Various Perception Sensor Noise Levels

“…However, despite the current advancements of sensor technologies and unique features of each perception sensor [20],degradation of measurements due to sensor noise is inevitable [21]. Sensor noise refers to the random variation inherent in the measurements that can be attributed to a wide range of factors from intrinsic limitations, such as a low resolution or design imperfections, to extrinsic influences, such as atmospheric conditions or electromagnetic interference [22]. The adverse marine environment adds another layer of complexity considering the extreme temperatures and humidity levels, corrosive nature of sea water, and visibility impairing rain, fog, or glare [23].…”