Towards a Reference Data Generation Framework for Performance Assessment of Perception Systems - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2019

Towards a Reference Data Generation Framework for Performance Assessment of Perception Systems

Résumé

Sensors and their associated data fusion techniques, play a crucial role in Autonomous Vehicle (AV) decision-making applications. Accurately evaluate performance and reliability of the perception sources is an important task to be able to know the consistency of this data fusion. In this paper, a reference data generation framework for assessing perception sensors performances is proposed. Our approach relies on the complementary use of three data sources: a highly precise 3D map with semantic information, a High Density range finder sensor and a GNSS-RTK/INS localization unit. 3D map provides semantic knowledge of the environment and HD range finder precisely senses ego-vehicle surroundings. Finally, 3D map and HD scans are geometrically associated using positioning information in order to combine them and to infer reference data. Thorough experiments were conducted to evaluate and validate the proposed approach. As a proof of concept, performances of a LiDAR-based road plane detection method were evaluated, quantified and reported in terms of precision and recall.

Mots clés

Fichier principal
Vignette du fichier
ITSC_2019_reviewed_hal_watermark.pdf (4.47 Mo) Télécharger le fichier
Origine Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-02393078 , version 1 (04-12-2019)

Identifiants

Citer

Rémi Defraiteur, Sergio Alberto Rodriguez Florez, Marie-Anne Mittet, Roger Reynaud, Nicole El Zoghby. Towards a Reference Data Generation Framework for Performance Assessment of Perception Systems. IEEE Intelligent Transportation Systems Conference (ITSC), Oct 2019, Auckland, New Zealand. ⟨10.1109/ITSC.2019.8917536⟩. ⟨hal-02393078⟩
254 Consultations
310 Téléchargements

Altmetric

Partager

Gmail Mastodon Facebook X LinkedIn More