Optimizing Autonomous Vehicle Sensor Setups: A Framework for Coverage Analysis

Philipp Hafemann, Simon Enrico Hahn, Markus Lienkamp

Publikation: Beitrag in Buch/Bericht/KonferenzbandKonferenzbeitragBegutachtung

Abstract

The performance of environment perception in autonomous vehicles is significantly influenced by the sensor setup, which is determined in the early design phase. The selection of the type and position of sensors in this phase often occurs before the availability of data processing algorithms. Therefore, the evaluation of the sensor setup can only be based on coverage metrics. This paper presents a novel framework for modeling the sensor coverage of autonomous vehicles. By discretizing the environment into grid cells, our framework analyzes each sensor and the whole setup. Our methodology systematically determines the coverage, identifies redundancy and blind spot areas, and obtains quantifiable metrics for evaluating the sensor setup efficiency. Utilizing the PyVista visualization library, we present the individual building blocks of the framework and their open-source implementation. The results from a real-world case study demonstrate our framework's ability to identify weaknesses in sensor setup coverage. Our approach helps to develop a comprehensive understanding of the sensor coverage and, therefore, contributes to designing more effective and reliable sensing systems.

OriginalspracheEnglisch
Titel2023 IEEE Symposium Sensor Data Fusion and International Conference on Multisensor Fusion and Integration, SDF-MFI 2023
Herausgeber (Verlag)Institute of Electrical and Electronics Engineers Inc.
ISBN (elektronisch)9798350382587
DOIs
PublikationsstatusVeröffentlicht - 2023
Veranstaltung2023 IEEE Symposium Sensor Data Fusion and International Conference on Multisensor Fusion and Integration, SDF-MFI 2023 - Bonn, Deutschland
Dauer: 27 Nov. 202329 Nov. 2023

Publikationsreihe

NameIEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems

Konferenz

Konferenz2023 IEEE Symposium Sensor Data Fusion and International Conference on Multisensor Fusion and Integration, SDF-MFI 2023
Land/GebietDeutschland
OrtBonn
Zeitraum27/11/2329/11/23

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