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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.
	Address
	Corporate Author				Thesis
	Publisher		Place of Publication		Editor
	Language	English	Summary Language	English	Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN		ISBN		Medium
	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.
	Address
	Corporate Author				Thesis
	Publisher		Place of Publication		Editor
	Language	Enlgish	Summary Language	English	Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN		ISBN		Medium
	Area		Expedition		Conference
	Notes				Approved	no
	Call Number	cidis @ cidis @			Serial	54
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