论文标题
RGB摄像机故障及其在自动驾驶应用中的影响
RGB cameras failures and their effects in autonomous driving applications
论文作者
论文摘要
RGB摄像机是自动驾驶应用程序最相关的传感器之一。不可否认的是，车辆摄像机的故障可能会损害自动驾驶任务，这可能会导致不安全的行为，而随后被驾驶系统处理的图像被更改。为了支持安全，健壮的车辆体系结构和智能系统的定义，在本文中，我们定义了车辆摄像头的故障模式，并分析了效果和已知缓解。此外，我们构建了一个软件库，以生成相应的失败图像，并将其馈送到单声道和立体声摄像机的六个对象检测器以及自动驾驶模拟器的自动驾驶代理。由干净的图像进行操作的不端行为可以更好地了解故障影响以及基于图像的应用程序中的相关安全风险。
RGB cameras are one of the most relevant sensors for autonomous driving applications. It is undeniable that failures of vehicle cameras may compromise the autonomous driving task, possibly leading to unsafe behaviors when images that are subsequently processed by the driving system are altered. To support the definition of safe and robust vehicle architectures and intelligent systems, in this paper we define the failure modes of a vehicle camera, together with an analysis of effects and known mitigations. Further, we build a software library for the generation of the corresponding failed images and we feed them to six object detectors for mono and stereo cameras and to the self-driving agent of an autonomous driving simulator. The resulting misbehaviors with respect to operating with clean images allow a better understanding of failures effects and the related safety risks in image-based applications.
