Using drones as reference sensors for neural-networks-based modeling of automotive perception errors

A Review of Testing Object-Based Environment Perception for Safe Automated Driving

“…Similar to the research interest of this paper, sensor modeling approaches like in Refs. [108][109][110][111] model object lists, which have been generated through both sensor hardware and perception software. This is common if the sensor's built-in perception algorithm is inaccessible to the modeling engineer due to sensor supplier intellectual property.…”

“…Actual statements on the SUT can be for example the mean values and standard deviations of Gaussian distributions that describe the SUT objects' state errors in position and velocity [110]. A nonparametric distribution for such errors that is based on a Gaussian mixture model is used in Ref.…”

“…UAVs are used as reference sensors for sensor modeling in Ref. [110] and for assessing infrastructure sensors in Ref. [160].…”

A Review of Testing Object-Based Environment Perception for Safe Automated Driving

“…Actual statements on the SUT can be for example the mean values and standard deviations of Gaussian distributions that describe the SUT objects' state errors in e.g. position and velocity [110]. A nonparametric distribution for such errors that is based on a Gaussian mixture model is used e.g.…”

“…The necessary processing steps to track ground vehicles from UAVs were later described in more detail in [161] and [162]. UAVs are used as reference sensors for sensor modeling in [110] and for assessing infrastructure sensors in [160]. A qualitative assessment of UAVbased reference systems in contrast to other reference systems is given in [163].…”