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Author | Miguel Realpe; Boris X. Vintimilla; Ljubo Vlacic | ||||
Title | A Fault Tolerant Perception system for autonomous vehicles | Type | Conference Article | ||
Year | 2016 | Publication | 35th Chinese Control Conference (CCC2016), International Conference on, Chengdu | Abbreviated Journal | |
Volume | Issue | Pages | 1-6 | ||
Keywords | Fault Tolerant Perception, Sensor Data Fusion, Fault Tolerance, Autonomous Vehicles, Federated Architecture | ||||
Abstract | Driverless vehicles are currently being tested on public roads in order to examine their ability to perform in a safe and reliable way in real world situations. However, the long-term reliable operation of a vehicle’s diverse sensors and the effects of potential sensor faults in the vehicle system have not been tested yet. This paper is proposing a sensor fusion architecture that minimizes the influence of a sensor fault. Experimental results are presented simulating faults by introducing displacements in the sensor information from the KITTI dataset. | ||||
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Language | English | Summary Language | English | Original Title | |
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Area | Expedition | Conference | |||
Notes | Approved | no | |||
Call Number | cidis @ cidis @ | Serial | 52 | ||
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Author | Angel D. Sappa; Cristhian A. Aguilera; Juan A. Carvajal Ayala; Miguel Oliveira; Dennis Romero; Boris X. Vintimilla; Ricardo Toledo | ||||
Title | Monocular visual odometry: a cross-spectral image fusion based approach | Type | Journal Article | ||
Year | 2016 | Publication | Robotics and Autonomous Systems Journal | Abbreviated Journal | |
Volume | Vol. 86 | Issue | Pages | pp. 26-36 | |
Keywords | Monocular visual odometry LWIR-RGB cross-spectral imaging Image fusion | ||||
Abstract | This manuscript evaluates the usage of fused cross-spectral images in a monocular visual odometry approach. Fused images are obtained through a Discrete Wavelet Transform (DWT) scheme, where the best setup is em- pirically obtained by means of a mutual information based evaluation met- ric. The objective is to have a exible scheme where fusion parameters are adapted according to the characteristics of the given images. Visual odom- etry is computed from the fused monocular images using an off the shelf approach. Experimental results using data sets obtained with two different platforms are presented. Additionally, comparison with a previous approach as well as with monocular-visible/infrared spectra are also provided showing the advantages of the proposed scheme. | ||||
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Publisher | Place of Publication | Editor | |||
Language | Enlgish | Summary Language | English | Original Title | |
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Series Volume | Series Issue | Edition | |||
ISSN | ISBN | Medium | |||
Area | Expedition | Conference | |||
Notes | Approved | no | |||
Call Number | cidis @ cidis @ | Serial | 54 | ||
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