Towards Sensor Data Abstraction of Autonomous Vehicle Perception Systems [article]

Hannes Reichert, Lukas Lang, Kevin Rösch, Daniel Bogdoll, Konrad Doll, Bernhard Sick, Hans-Christian Reuss, Christoph Stiller, J. Marius Zöllner
2021 arXiv   pre-print
Full-stack autonomous driving perception modules usually consist of data-driven models based on multiple sensor modalities. However, these models might be biased to the sensor setup used for data acquisition. This bias can seriously impair the perception models' transferability to new sensor setups, which continuously occur due to the market's competitive nature. We envision sensor data abstraction as an interface between sensor data and machine learning applications for highly automated
more » ... s (HAD). For this purpose, we review the primary sensor modalities, camera, lidar, and radar, published in autonomous-driving related datasets, examine single sensor abstraction and abstraction of sensor setups, and identify critical paths towards an abstraction of sensor data from multiple perception configurations.
arXiv:2105.06896v2 fatcat:cadnjmzwpzha3koshun3m46gy4