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Object-Level Fusion for Surround Environment Perception in Automated Driving Applications

Michael Aeberhard

Reihe: Verkehrstechnik/Fahrzeugtechnik

Band 804 2017

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Sensor Data Fusion Architectures S. 27-45

„… , consisting of three levels of sensor data processing: sensor-level, fusion-level and application-level. The …” „… proposed architecture is organized into three levels of sensor data processing: sensorlevel, fusion-level …” „… fusion of a small group of sensors. 2.2.3 Fusion-Level At the fusion-level of the proposed sensor data …”

State and Covariance S. 64-92

„… association between objects at the fusion-level in a high-level sensor data fusion architecture is covered in …” „… asynchronous and multi-sensor configuration is the sequence of the sensor data at the fusion-level. Each sensor …” „… out-ofsequence sensor data at the fusion-level, which is a significant problem in a sensor-to-global fusion …”

Conclusion and Discussion S. 152-154

„… improve these driver assistance systems. Sensor data fusion will become a key aspect in future ADAS and …” „… realize more complex and intelligent behaviors of the vehicle. This thesis proposed a sensor data fusion …” „… and presented a novel high-level sensor data fusion architecture which was developed within this …”

Fusion Strategy and Object Association S. 46-63

„… method of processing sensor-level object data at the fusion-level is to use a sensorto-global fusion …” „… maintained over time at the fusion-level, data from the previous fusion is not lost when new sensor data …” „… high-level sensor data fusion architecture, each sensor produces an object list of the detected objects …”

Titelei/Inhaltsverzeichnis S. I-XVI

„… dynamic objects is presented in order to realize an effective method for sensor data fusion. A scalable …” „… high-level fusion architecture is developed for fusing object data from several sensors in a single system …” „… . The developed high-level sensor data fusion architecture and its algorithms are evaluated using a …”

Evaluation S. 133-151

„… 7 Evaluation The proposed high-level sensor data fusion architecture presented in the previous …” „… detection and sensor data fusion are evaluated on a closed test track using two prototype vehicles for …” „… 7.3.3 Integration in Automated Driving and ADAS Projects The high-level sensor data fusion architecture …”

Classification S. 116-132

„… networks. Fusion of sensor classification data at a low-level within a Joint Integrated Probabilistic Data …” „… -level using only sensor-specific information (Section 6.1). At the fusion-level, classification vectors from …” „… be thought of as a classification hypothesis for an unknown class. Following the proposed sensor data …”

References S. 172-202

„… ] Becker, J., “Fusion of Data from the Object-Detecting Sensors of an Autonomous Vehicle,” in IEEE …” „… ] Becker, J. and Simon, A., “Sensor and Navigation Data Fusion for an Autonomous Vehicle,” in IEEE …” „… Information Fusion, Cairns, Australia, July 2003, pp. 2–10. [72] ——, “Multi Sensor Data Fusion Using a …”

Synchronous Track-to-Track Fusion Algorithms S. 155-161

„… due to common information history, these algorithms use a sensor-to-sensor fusion strategy. If the …” „… sensors are asynchronous, they are temporally aligned for the sensor-to-sensor fusion process, as …” „… The most basic fusion algorithm takes two state estimates from sensors i and j and combines them …”

Introduction S. 1-26

„… system [76, 147, 219]. The combination of data from many sensor sources is called sensor data fusion and …” „… . . . Sensor N Sensor Data Fusion Application 1 . . . Application N Environment Model (b) Figure 1.1: Basic …” „… data processing through a common sensor data fusion module (b). in vehicles. With the increase of …”

Existence Probability S. 93-115

„… ) is shown in Table 5.1. Each time object data from a sensor arrives at the fusion-level, each global …” „… object exists, but is currently occluded [215, 217]. In the proposed high-level sensor data fusion …” „… quality measure is used. In a high-level sensor data fusion architecture, it is important to properly …”

Determining the Trust Probability S. 164-166

„… sensors. Therefore, the trust probability serves as a weighting factor during the fusion process, with the …” „… goal of properly considering sensor’s performance during fusion. In this appendix, the trust …” „… C Determining the Trust Probability For the fusion of the existence and classification probability …”

Evaluation Scenario Descriptions S. 167-171

„… D Evaluation Scenario Descriptions Sensor data during several highway scenarios were recorded using …” „… parametrization of existence and classification fusion algorithms made use of the data described in this section …” „… camera sensor from the host vehicle. Each row of the image refers to one of three data sets, where the …”

doi.org/10.51202/9783186804129

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LAND.TECHNIK 2022

VDI Wissensforum GmbH (Hrsg.)

Reihe: VDI-Berichte

Band 2395 2022

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R. R. Shamshiri, C. Weltzien, T. Schutte Multi-Sensor Data Fusion with Fuzzy Knowledge-based Controller for Collision Avoidance of a Mobile Robot S. 349-358

„… Multi-Sensor Data Fusion with Fuzzy Knowledge-based Controller for Collision Avoidance of a Mobile …” „… distributed control system with multi-sensor data fusion and a fuzzy knowledge-based algorithm for collision …” „… driving the robot in a real berry field and collecting sensor and steering data. Results from experiments …”

M. Wesle-Zehetmair, C. Engelhart, C. Marbach, C. Engelhart Innovative surround sensing conquers the agricultural market! Vision System – a pioneering sensor system for diverse use S. 171-176

„… control unit for sensor data processing. By interlinking all of the vehicle’s surround sensors, a …” „… curr ntly being cre ted with the fusion system and the asso iated central control unit for senso data …” „… visualization platform that enables the objects detected by the radar or ultrasonic sensors to be indicated on …”

Titelei/Inhaltsverzeichnis S. I-XVI

„… Multi-Sensor Data Fusion with Fuzzy Knowledge-based Controller for Collision Avoidance of a Mobile Robot …” „… ); detailed bibliographic data is available via Internet at www.dnb.de. f Electrical Agricultural Machines …” „… , Zedelgem, Belgium f Robotics in Weed Control Dual use sensor array for crop management in arable farming …”

doi.org/10.51202/9783181023952

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Grid-Based Object Tracking

Sascha Steyer

Reihe: Mess-, Steuerungs- und Regelungstechnik

Band 1272 2021

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Measurement Grid Representation and Fusion S. 13-38

„… . The focus is thereby placed on the representation of the occupancy state and the sensor data fusion …” „… similar grid fusion approaches, the problem of asynchronous sensor data is considered, where new …” „… sensor data fusion and especially later in the temporal filtering with the additional static/dynamic …”

Introduction S. 1-12

„… , sensor data fusion of multiple heterogeneous sensors is required, with an advantageous utilization of the …” „… performed by a cell-wise combination for both the temporal mapping accumulation and the sensor data fusion …” „… occupancy accumulation, but also a robust sensor data fusion and association, all by the grid cell …”

Conclusion S. 165-168

„… sensor data fusion, temporal filtering of the dynamic grid mapping, object extraction and association …” „… sensor data with different measurement and latency time instances, a new fusion strategy has been …” „… . In conclusion, this thesis has presented new methods for sensor data fusion, temporal filtering and …”

Titelei/Inhaltsverzeichnis S. I-XII

„… sensor data fusion. Popular approaches are commonly based on a sensor-individual object tracking with an …” „… Data Fusion Mobile robots require an accurate environment perception to plan intelligent maneuvers and …” „… Spatiotemporal Alignment of Asynchronous Sensor Data . . . . . . 30 2.5 Results and Summary …”

Bibliography S. 170-186

„… , M. Stuebler, S. Reuter, and K. Dietmayer. Fusion of laser and radar sensor data with a sequential …” „… . Track-to-Track Fusion With Asynchronous Sensors Using Information Matrix Fusion for Surround Environment …” „… . Chavez-Garcia and O. Aycard. Multiple Sensor Fusion and Classification for Moving Object Detection and Tracking …”

Own Publications S. 169

„… . Tanzmeister and S. Steyer. Spatiotemporal alignment for low-level asynchronous data fusion with radar sensors …” „… ., 21(7):2874–2893, July 2020. [2] S. Steyer, G. Tanzmeister, C. Lenk, V. Dallabetta, and D. Wollherr. Data …” „… in grid-based tracking and mapping. In Proc. IEEE Int. Conf. Multisensor Fusion and Integration for …”

Evaluation S. 127-164

„… real sensor data in various traffic scenarios of multiple test vehicles during the last years. Thereby …” „… depicted in Fig. 6.1. Altogether, this enables full 360◦ coverage with a multi-sensor fusion and partial …” „… multiple lidar, radar, and camera sensors form the input of this work. These measurement data are …”

Object State Estimation S. 101-126

„… occupancy and freespace hypotheses. This includes the sensor data fusion and the dynamic grid estimation by …” „… , low-level early-stage sensor fusion approaches with a late-stage object abstraction and tracking, as …” „… estimation forms the last processing step based on the combined measurement data of all sensors. In the …”

Dynamic Grid Mapping and Particle Tracking S. 39-78

„… discretized cell structure of occupancy grids enable a low-level sensor data fusion, without specific object …” „… and fusion of sensor measurements as measurement grids. The fused measurement grid thereby contains …” „… estimated dynamic grid map Mt with real sensor data in an urban scenario is shown in Fig. 3.1a. Another …”

Object Extraction and Association S. 79-100

„… objects thereby have to be extracted from different sensor data, such as camera images, range-based …” „… detections of lidar or radar sensors, or some other pre-processed or fused representation of measurement data …” „… within the generic occupancy grid representation, followed by the grid-based sensor fusion as well as the …”

doi.org/10.51202/9783186272089

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Electrics / Electronics for Mobile Machines

VDI Wissensforum GmbH (Hrsg.)

Reihe: VDI-Berichte

Band 2442 2024

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Y. Frisoni Innovative Environment Perception Solutions – Key Steps on the Path to Safe Mobile Machines Automation Environment perception functions using proven ADAS automotive technologies in off-road multi-purp... S. 137-XII

„… layers to deliver the ADAS function with multi-sensor raw data fusion. This system architecture is linked …” „… sensor data fusion. The data fusion is a key point to design a safe ADAS solution able to handle complex …” „… multi-sensor (radar, camera, lidar…) fusion data based software named Dynamic Grid Fusion (refer to fig. 6 …”

doi.org/10.51202/9783181024423

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ELIV-MarketPlace 2022

VDI Wissensforum GmbH (Hrsg.)

Reihe: VDI-Berichte

Band 2405 2022

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E. Richter Next-Gen Sensor Fusion for Next-Gen Sensors and Driving Functions S. 37-58

„… we need Next-Generation Sensor Fusion?Dynamic ObjectsStatic ObjectsFree SpaceEnvironmental Model1 …” „… Next-Gen Sensor Fusion for Next-Gen Sensors and Driving Functions Dr.-Ing. Eric Richter, BASELABS …” „… GmbH, Chemnitz Abstract For next-generation driving functions and sensors, integrated sensor fusion …”

V. Anselm, I. Kotori Mastering Data Replay and HIL for ADAS and AD together S. 145-158

„… CRITICALData SourcesTest FarmSimulation and ModelingRecorded Drive and Sensor DataRoad Test and …” „… DATAWORLDSIMULATIONADAS ECUSENSORSADAS ECUVDI-Berichte Nr. 2405, 2022 149ni.comSENSOR SENSOR ECU FUSION ECUChallenges of …” „… Sensor DataMULTIPLE ECU SPECIFIC INTERFACESETHERNET gRPCETHERNET RDMAEthernet InterfacesSimulation PC …”

S. Poledna, L. Antonia Zaza Bringing together major stakeholders to shape the future of autonomous operation. Can this also be done for the offhighway industry? S. 447-460

„… intelligenceAlgorithms and neural networksSensor fusion & real-time data Higher capacity and fast CPU performancesSensors …” „… & TrendsTrends in Off-HighwayHigh speed networking for sensor/camera data, software updates and video streaming …” „… in-vehicle architectures need to be redeveloped. Furthermore, more and more data need to be processed and …”

M. Tanimou, T. Stumpf Centralized Architecture in Commercial Vehicles and its impact on Software defined Architecture S. 403-412

„… architecture2Vehicle-centralized and zonal E/E architectureDomain-fusion and zonal E/E …” „… (SOP)Domain-centralizedDomain-fusion,vehicle-centralized and zonal2025Cyan Magenta Yellow BlackPreflight Lx3 am Oktober 17, 2022 | 16:45:47 | 209.9 mm x …” „… property rights.Domain fusion as way to allow smooth migrationSolutions for future E/E architecture3 …”

Titelei/Inhaltsverzeichnis S. I-XIV

„… neocx GmbH, Dresden f Autonomous Driving in Practice – Use Cases and ExperiencesNext-Gen Sensor Fusion …” „… National Bibliography); detailed bibliographic data is available via Internet at www.dnb.de.Preflight Lx3 …” „… for Next-Gen Sensors and Driving Functions � � � � � � � � � � � � � � � � �37 E …”

B. Franczyk Technology comparison of surround sensors for mobile machines – Change from rule-based systems to Deep Learning S. 421-428

„… SENSORSwww.digitalisierung-landwirtschaft.deCamera LIDAR RADAR Ultrasound FusionField of viewMeasuring range, RangeVelocity resolutionRadial …” „… Technology comparison of surround sensors for mobile machines Change from rule-based systems to …” „… increasingly being equipped with different types of sensors such as LIDAR, RADAR, Ultrasound or Cameras in …”

V. Horvath, H. Laine, G. Blahut, A. Késmárki, M. Pfeifle Streaming Map Data Efficiently from Cloud to ECUs – A Cost-Efficient and Self-Adapting Solution for Intelligent Speed Assistance S. 239-248

„… v1 [5] Perumal, L. Doss, A.(2020). Sensor Fusion for Automotive Dead Reckoning Using GPS and IMU for …” „… Streaming Map Data Efficiently from Cloud to ECUs A Cost-Efficient and Self-Adapting Solution for …” „… to predict legal speed limits for publicly available map data. These limits are transmitted from …”

J. Toennemann Architectural Guidelines for AUTOSAR-based E/E Systems with Safety-related Availability Requirements S. 211-218

„… distributed function:Time synchronization is essential for use cases that perform sensor fusionSecure …” „… heavy workload (e.g. sensor fusion) canbe performed on application cores> an upper bound on timing …” „… B(D) on AvailabilityLegend Bus Power Sensors/Actuators3Use Cases for Fail-operational SystemsL3 AD …”

doi.org/10.51202/9783181024058

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ELIV 2024

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Band 2441 2024

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W. Steinmann, B. Sondermann Biometrics and sensor fusion for enhanced in-cabin safety and comfort Reducing complexity and increasing possibilities through a holistic approach to in-cabin monitoring S. 327-342

„… fusion, where data from different types of sensors (e.g., cameras and radar) can be combined to deliver …” „… camera and radar into three stages: • Early Fusion: Combination of (almost) unprocessed sensor data at …” „… radar ADC data. • Intermediate fusion: Calculation of features in the sensor data in a pre-processing …”

P. Reilhac, C. Nowakowski, A. Manila, J. Almeida Immersive In-car AR Live Gaming Enabled by SDV Architecture, ADAS Cameras & AI Software S. 313-326

„… datacommunication between sensors and data fusion for automated driving, but XR applicationswill likely be less …” „… ,https://www.autovision-news.com/electrification/changes-vehicle-electrical-architecture/[17] Road vehicles - Data communication between sensors and data fusion unit forautomated driving …” „… Advanced DriverAssistance System (ADAS) sensor data for new immersive eXtended Reality (XR)experiences …”

A. Schleich, F. Modes, T. Schaller, M. Werling Statistical methods and Monte-Carlo simulation ensure the safety case of the environmental sensor performance in BMW’s first L3 function, the BMW Personal Pilot L3 S. 105-116

„… fusion into single sensor analyses for the redundant channels. For each sensor the total failure …” „… they generally lack a statistical meaning. Sensor models, decomposition of the sensor fusion into a …” „… Statistical methods and Monte-Carlo simulation ensure the safety case of the environmental sensor …”

S Gowrishankar, KV Muralidhara, M. Ghivari Leveraging AI/ML Techniques in Software Defined Architecture: Towards Emotional Quotient Prediction in Smart Automotive Cabins by Integrating Physiological and Vehicle Data. AI-driven Smart Cabin in S... S. 343-358

„… vehicle data sensors. The approach consists of comparing various AI techniques and measuring the …” „… , hand pressure) and vehicle sensor data (e.g., accelerator usage, VDI-Berichte Nr. 2441, 2024 343 …” „… depends on sensor data or vehicle data captured from OBD (On-Board Diagnostics) for identifying driving …”

N. Neis, L. Eisemann, D. Hermann, J. Zhou, L. Toettel From Reality to Simulation: Automatized Transfer and Simulation of Critical Driving Scenarios with Digital Twins S. 453-466

„… software setup.We mainly use two major sensor modalities for data collection: Cameras and LiDAR sen-sors …” „… sensors, asROS allows for streamlined sensor data handling. For data collection, we leverage the ROS 2 …” „… real sensorsin order to be able to generate corresponding virtual sensor data when resimulating …”

M. Münzer, S. Zhang, C. Bauer, D. Graovac Boosting vehicle range by mating semiconductor technologies S. 477-482

„… will be discussed in detail and characterization data demonstrating operation under standard conditions …” „… and during representative overload cases will be shared. Finally, this data is used to compare the …” „… range, data in this paper will be referenced to it. State of the art BEVs have already demonstrated …”

P. Dreiseitel, R. Grewe Quo vadis Vision Zero – Can AI help us to make our vision come true? S. 41-52

„… sensor data is required, providing the sensor models and materials, assets, and scenarios for realistic …” „… sensor data synthesis will be possible also for non-image sensors like Radar, Lidar or ultrasound, and …” „… even a consistent combination of different sensors for testing sensor fusion systems. Realistic test …”

L. Eisemann, L. Toettel, T. Watzl, T. K. Rupp, J. Schaper Using Large Language Models to generate critical driving situations for virtual and hybrid ADAS/AD testing S. 265-280

„… CARLA [11] and is referred to as PE in-house SimFramework hereafter.Based on this, sensor data from the …” „… three areas; the derivation from real-world vehicle data [3, 12–15], extraction fromroad-side sensors …” „… accurate sensor data generation, we generate a high-fidelity environmentalrepresentation and respective 3D …”

G. Schmitt, F. Fitzek, M. Gruffke Automotive Vehicle Connectivity 2030 S. 157-166

„… source of information as other vehicle’s sensors do. E.g., extended V2X object data are conveyed to the …” „… ADAS platform to allow some specific sensor fusion. The functionality for the use case is implemented …” „… realized. Improved data rates up to 3 Gbps in real world scenario for downlink (theoretically up to 20 Gbps …”

M. Schaffert Enabling an Open Eco-System for Chiplet based Automotive SoCs Chiplets are the future for automotive SoCs and Road towards first Generations S. 529-540

„… (IVI). The next wave of technology aims to merge these components, creating Fusion SoCs that integrate …” „… . Figure 1: Ongoing centralization of central compute functional, will lead to multi-domain fusion SoC …” „… These Fusion SoCs will represent some of the most intricate monolithic designs available, as they …”

Titelei/Inhaltsverzeichnis S. I-XIV

„… , USABiometrics and sensor fusion for enhanced in-cabin safety and comfort Reducing complexity and increasing …” „… Nationalbibliographie (German National Bibliography); detailed bibliographic data is available via Internet at …” „… for optimizing traffic flow through AI-based implementation of real-world traffic data from other …”

K. Brand, T. Tang, D. Selvaraj A New Era for Software Verification: Heterogeneous Multicore Compute With Model-Based Design and Virtual ECUs S. 437-452

„… use cases in Domain/Zone Control, ADAS for sensor fusion and signal processing, and xEV applications …” „… Infineon’s AURIX™ TC4x architecture. We demonstrate sensor-less position estimation using an Artificial …” „… advantage of saving the costs of an encoder or other position sensor. AI techniques such as a multilayer …”

T. Huck, A. Achtzehn When innovation demand meets E/E architecture Further endeavours into next-gen architectural designs S. 395-406

„… can be effectively implemented at the compute level. From a technical standpoint, the fusion of …” „… separating the data plane from the control plane, does not require VDI-Berichte Nr. 2441, 2024 403a specific …” „… underlying sensors, actuators, the ADAS system, and potential (cloud-based) support functions for efficiency …”

doi.org/10.51202/9783181024416

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AgEng LAND.TECHNIK 2022

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Band 2406 2022

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H. Tavakoli, J. Correa, S. Vogel, R. Gebbers RapidMapper – a mobile multi-sensor platform for the assessment of soil fertility in precision agriculture S. 351-358

„… and present an initial evaluation of the sensor data fusion. Prediction performance for pH, soil …” „… . 2406, 2022 3514, 6]. Research on soil sensor data fusion has been recently reviewed by Munnaf, et al …” „… .: Site-specific seeding using multi-sensor and data fusion techniques: A review, in Advances in Agronomy, D.L …”

R. R. Shamshiri, C. Weltzien, I. Zytoon, B. Sakal Evaluation of Laser and Infrared Sensors with CANBUS Communication for Collision Avoidance of a Mobile Robot S. 121-130

„… , C. Weltzien, and T. Schutte, “Multi-Sensor Data Fusion with Fuzzy Knowledge-based Controller for …” „… experiments. The proposed approach created a flexible framework for exchanging data between each of the sensor …” „… Navigation, Sensor fusion, Agricultural mobile robots, LiDARs Introduction The use of robots in agriculture …”

M. Gränitz, J. Hirth Sensors for Agriculture Robots – How sensors and software enable the transformation towards highly automated and sustainable agricultural production systems – a platform-based development approach – S. 343-350

„… autonomy kits realizes an intelligent sensor fusion to combine the information of the different sensors …” „… Sensors for Agriculture Robots How sensors and software enable the transformation towards highly …” „… SICK is a global, leading manufacturer of intelligent sensors and sensor solutions for industrial …”

F. Butzenlechner, P. Kastenhofer, A. Ettlinger, M. Gansberger, P. Prankl, A. Müllner Effects of site-specific corn sowing on yield and quality in different climatic regions in Austria S. 555-560

„… , Haesaert G, Van Meirvenne M, Mouazen A.M, 2020: Site-Specific seeding using multi-sensor and data fusion …” „… site-adapted sowing of maize in dry periods. The basis of these investigations are data obtained from field …” „… . There is a tendency, that site-adapted sowing leads to higher dry matter yields. The yield data from …”

doi.org/10.51202/9783181024065

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LAND.TECHNIK AgEng 2019

VDI Wissensforum GmbH (Hrsg.)

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Band 2361 2019

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P. Munch Predictive Feed-Rate Control for Combine Harvesters S. 545-552

„… actual harvest machine data. The predictions are provided to the Sensor Fusion as soon as they achieve …” „… directly measured, the data from the different sources is fused by the Sensor Fusion module to obtain a …” „… ) receives the predicted biomass which is calculated by the Sensor Fusion from data of both FLP and VDM …”

M. J. Darr, M. M. Qasaimeh, C. J. Murphy, B. R. Covington, V. Fuchs, T. Schaefer, F. Pardina, B. Reddy, J. Petri, T. Fuege, J. Hinze High Definition Yield Maps for Precision Ag Decision Support S. 327-334

„… , and social sustainability of agriculture. Advances in sensor technologies, wireless data transfer …” „… imagery sensors, and atmospheric noise [3]. When coupled together the fusion of highly accurate field …” „… definition yield map was developed through the fusion of remote sensed imagery and combine yield data. This …”

C. Weltzien, R. R. Shamshiri SunBot: Autonomous Nursing Assistant for Emission-Free Berry Production, General Concepts and Framework S. 463-470

„… algorithms. In this scheme, each ECU is responsible for processing its sensor data and sends out the final …” „… turning pattern for the SunBot e-tractor in Shrubbery orchards using sensor fusion Fig. 5 shows …” „… framework reduces efforts in code and application development that can be shared by all sensors and …”

doi.org/10.51202/9783181023617

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ELIV 2023

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Band 2423 2023

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Z. Bassi, P. Gulden Using Radar and Vision Fusion for Improved Low-light Pedestrian Detection S. 113-132

„… accuracy due to complementary features. The placement and interaction, or fusion, of these sensors, can …” „… . While sensor fusion has required powerful computing resources to-date, we show how vision and radar …” „… distance and velocity data. The fusion of a camera with radar can enhance a safety system by improving …”

F. Kraemer Development and Testing Autonomous Vehicles (AV) at Scale S. 149-158

„… carry out real on road driving tests. One major goal is to collect measurement data from sensors …” „… increasing number of sensors in the vehicle. Particularly when recording high-resolution raw data in the …” „… multi-sensor data to data centers, which ensures the subsequent processing for AI, SiL and HiL simulation …”

M. Pfeifle, N. Zeller, A. vom Felde Combining ADAS and SD Maps for Augmented Reality Guidance S. 135-148

„… . To overcome this, advanced image processing algorithms and sensor fusion techniques need to be …” „… scale for an observed scene. To overcome the issue of scale drift, additional sensor data can be …” „… sensors (such as front-facing cameras). Despite huge improvements in the AD domain, the majority of …”

O. Schmidt, K. Albers, P. Rehkop, R. Münzenberger Strategically Migrating, Mapping and Scaling Software to new SoC, domain and zone architectures and HPC S. 169-184

„… functionality, or the data age of sensor values a reaction is based on. This could be the time from the …” „… , functionality can be based on the fusion of several sensor values, forming joins or forks. Adjacent steps have a …” „… the processed data (to ensure that each sensor measurement is included as part of the calculations for …”

N. Kechler, E. Sax, N. Venkatesh Key Factors of a robust and safe Automated Driving Function – Transferable Insights of City-Bus Platooning in Munich S. 677-688

„… its quality. This is especially relevant for systems in the field of sensor data and vehicle data …” „… Software Components The available lidar as well as camera sensor data are first processed in separate …” „… is calculated. In a sensor fusion all calculated positions from the different sources are evaluated …”

K. Eliasch, Dr. P. Friedel, D. Li, D. Shan Cooperative Perception Services to Improve the Safety of Road Users S. 347-364

„… PerceptionTarget Filtering and Classification Threat AssessmentPath HistoryPath PredicationMulti-Sensors Fusion (Be …” „… results are adapted to the V2X communication stack according to the cSAE standardized V2X Sensor Data …” „… improvements for all road users, which effectively overcomes the single vehicle automotive sensor perception …”

F. Mayer, J. Apelt, R. Münzenberger, F. Kraft, C. Winkler Event-Chain-Focused Development of System Architectures Makes Complex Systems Manageable S. 645-662

„… be identified in the object list. Secondly, the function object_fusion() requires real-time data …” „… result, properties that are critically important for the correctness of the system, such as data age …” „… ) functions to be integrated into the Central Vehicle Manager (CVM). The data required to VDI-Berichte Nr …”

Titelei/Inhaltsverzeichnis S. I-XVI

„… | 148 mm x 210 mm Automated Driving – SensorsUsing Radar and Vision Fusion for Improved Low-light …” „… bibliographic data is available via Internet at www.dnb.de.© VDI Verlag GmbH · Düsseldorf 2023Alle Rechte …” „… 210 mmContent Automated Driving – SystemsCriticality driven data acquisition in autonomous driving …”

X. Wang, A. Hübner, K. Weishaupt, K. Chung Validation and Interpretation of Neural Networks: DNN-Based Object Detection as an Example S. 419-436

„… difficult to obtain a bounding box with LiDAR data alone, and data fusion with camera data is therefore …” „… image data for 2D object detection. Furthermore, camera sensors are cost-effective and can provide depth …” „… LiDAR sensors will most likely be implemented for advanced driver assistance systems (SAE levels 2 and 3 …”

P. Dreiseitel, D. Yesilbas Generative Artificial Intelligence – How AI Models Change the Way We Develop Automotive Products S. 405-418

„… audio comprehension in conjunction with video or sensor fusion. New norm in industries: The …” „… from mere data analysis to creative tasks such as text and image generation. Unlike traditional …” „… supervised learning methods that rely heavily on labelled data, these state-of-the-art models are designed to …”

doi.org/10.51202/9783181024232

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LAND.TECHNIK 2020

VDI Wissensforum GmbH (Hrsg.)

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Band 2374 2020

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S. Jordan, D. O’Rourke, L. Avery, J. Almond 3D Colour vision for machine automation and safety – AI Sensor Fusion S. 345-352

„… , where high resolution depth data is required. Sensor fusion Sensor fusion has been ‘known’ since …” „… 3D Colour vision for machine automation and safety AI Sensor Fusion Simon Jordan, Douglas …” „… invested heavily in the tools, software and algorithms for sensor fusion, machine vision and object …”

A. Holler, C. Mueller From driver to automated driving – Proposal for a holistic step by step approach S. 413-424

„… VDI-Berichte Nr. 2374, 2020 417 sensors are needed, the next higher-level hardware is used: digsy fusion S-P …” „… vehicles with an upgraded Safety Controller of type digsy fusion S-P to cope with the high data rates …” „… the integration of newly upcoming sensors as well as to enable a product concept where different …”

Titelei/Inhaltsverzeichnis S. I-XIV

„… machine automation and safety – AI Sensor Fusion � � � � � � � � � � � � � � � 345 S …” „… Nationalbibliographie (German National Bibliography); detailed bibliographic data is available via Internet at …” „… GmbH & Co. KG f Data Management Farmers’ expectations in Precision Farming Technologies – Transfarm …”

S. Raikwar, T. Herlitzius, J. Fehrmann Autonomous Navigation Strategy for an Orchard Robot Using Simulation Design S. 425-434

„… difficult for integration. This multi-level sensor fusion even makes the system cost intensive. Therefore …” „… platform. This navigational unit includes motion planning, obstacle avoidance and data transmission module …” „… does the lane tracking and the path following. The robot uses ultra-sonic sensors for track following …”

P. Riegler-Nurscher, J. Prankl, M. Vincze, H. Prankl A review on plant and soil properties estimation using ground-based computer vision techniques in the visible spectrum S. 353-360

„… employed algorithms, the data used and the proposed use case. In addition, environmental influences on the …” „… computer vision applications feasible. Historically, sensor technologies and image analysis in agriculture …” „… matching are needed in the subsequent processing unit. Optionally, 3D sensors such as TOF Cameras or …”

doi.org/10.51202/9783181023747

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Higher-Order Multiple Object Tracking

Roberto D. Henschel

Reihe: Informatik/ Kommunikation

Band 875 2021

Treffer in den folgenden Teilen:

Conclusions S. 165-171

„… 5 Conclusions This work addresses the multiple object tracking problem (MOT): Using sensor data …” „… data is combined with IMU data. Here, it is assumed that each person to be tracked wears an IMU sensor …” „… ) are effectively addressed by the fusion with IMU data. We consider the VIMPT task as a useful …”

Titelei/Inhaltsverzeichnis S. I-XVIII

„… Model – Global Optimization – Video – Sensor Fusion – Inertial Sensors This dissertation deals with …” „… . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 3.2.2 Data association model for signal fusion . . . . . . . . . . . . . 84 3.3 Frank-Wolfe …” „… thesis demonstrate that the proposed fusion formulation enables to exploit provided data more extensively …”

Introduction S. 1-32

„… measurements from sensor data. By assigning each localization to its corresponding object identity, the …” „… wearing minimally intrusive sensors. We note that the gain of the fusion approach has been successfully …” „… fusion (Chapter 3) by incorporating additional detectors and sensors. The subsequent sixth publication …”

HO-MOT with Signal Fusion S. 80-129

„… the fusion formulation can also be applied across different modalities by using video data and an …” „… per-person consistency is not considered. 3.2.2 Data association model for signal fusion The data association …” „… view. We perform the holistic fusion of video with IMU data by utilizing the proposed weighted graph …”

Bibliography S. 172-196

„… Eiselein, and Thomas Sikora. “Sequential Sensor Fusion Combining Probability Hypothesis Density and …” „… planning from customer-tracking data”. In: Journal of Retailing and Consumer Services 9.5 (2002), pp …” „… microorganisms in 4D digital in-line holography data”. In: Workshop on Motion and Video Computing (WMVC). IEEE …”

doi.org/10.51202/9783186875105

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LAND.TECHNIK AgEng 2023

VDI Wissensforum GmbH (Hrsg.)

Reihe: VDI-Berichte

Band 2427 2023

Treffer in den folgenden Teilen:

S. Bosse, J. Magnusson, E. L. Wisotzky, A. Hilsmann, P. Eisert, E. Gassen, M. Reichardt, A. Stein, J. Heil, M. Hussaini Platform-Based and AI-Enabled Farming to Foster Agricultural Ecosystems S. 441-454

„… must be prepared and made accessible for model training. Through the aggregation and fusion of sensor …” „… and machine data obtained via remote sensing, soil sensor technology, and robotics, a valuable data …” „… data, application-specific sensors such as camera systems or NIR sensors are used in conjunction with …”

T. Blume, L. Neumann Self-supervised learning for an agriculture driver assistant system S. 471-476

„… sensor can be estimated over time using algorithms such as dead reckoning or sensor fusion techniques …” „… system for local navigation in tramlines with optical sensors. Auto-steering relieves the farmer …” „… data are used to train a model independently without the need for human expertise. Self-supervised …”

C. Hurd, J. Hollinger, T. Schuster, R. Schildroth Deploying Off-Road Autonomy at Scale S. 463-470

„… multi-sensor data fusion. He was a co-founder of LSA Autonomy and is currently the Director of Software …” „… technology dependent system. ○ Lack of high resolution and quality input data from sensors can compound on …” „… important to use odometry provided from various other sensors to augment and complement GNSS data. ○ To …”

doi.org/10.51202/9783181024270

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ELIV 2021

VDI Wissensforum GmbH (Hrsg.)

Reihe: VDI-Berichte

Band 2384 2021

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C. Cremers, P. Hubertus, R. Laszlo, M. Pfeifle, O. Muratov Augmented Reality Guidance based on 6D Positioning and HD Lanes S. 367-380

„… The Road Model layer of the HD Live Map provides data farther than the sensors can see. It also …” „… includes data sensors cannot see at all, either because the information is not sign-posted or it’s not …” „… large volume and anonymized vehicle and infrastructure sensor data HERE has access to. The complexity …”

F. A. Schiegg, I. Llatser, H. Tchouankem, T. Frye, F. Wildschutte, F. Hofmann Removing Blind Spots – Infrastructure-assisted Collective Perception S. 29-44

„… from the on-board sensors by means of data fusion [19, 20]. This approach increases the redundancy of …” „… needed. The vehicle’s own onboard sensors can be used to double check the incoming data and avoid …” „… unwanted braking manoeuvres. In this demonstrator, the vehicle sensors were not used, as the data …”

Z. Hermon Active Acoustics Innovations Supported by Tuning & Prediction Tools S. 331-338

„… systems with the installed sensors in the cabin that send data signals to the onboard software control …” „… a set of sensors on the chassis and inside the headliner or the seats. The Active Road Noise …” „… locations and types of sensors and speakers used, computer aided design (CAD) tools play an important role …”

F. Rundo Perceptive Advanced Car-driver Drowsiness Monitoring Neuro-Embedded System S. 317-330

„… driver's attention level through a “data fusion” approach merging visual and physiological data of the …” „… Advanced Driver Assistance Systems (ADAS). The term "ADAS" includes embedded devices and sensors designed …” „… to improve car driving safety including rain sensors, twilight sensors, and more. Recently …”

S. Wonneberger, S. Balci Reliable Validation of Highly Automated Driving Functions by Increasing the Virtualization Level of High Performance Computing Platforms and Smart Sensors S. 17-28

„… groups (SoCs) are integrated for specific sensor-, deep learning based data or high-definition graphics …” „… . Sensor Processing Subsystem Our test environment basically used CUDA and stream oriented data transfers …” „… AUTOSAR-compatible formats. While sensor raw-data processing like image processing is directly performed in the …”

F. von Bulow, F. Heinrich, T. Meisen A new perspective for manufacturers: Cloud-based utilization of operational fleet data S. 117-130

„… sensor data being exchanged from the vehicle to the cloud (V2C) [2]. Based on this data, the operating …” „… enabling data transmission from sensors already existing in the machines of customers’ fleets to the …” „… ] Wu, B. & Widanage, W. D. et al.: Battery digital twins. Perspectives on the fusion of models, data …”

A. Hohm, B. Hartmann, S. Khodaverdian, D. Bosch, B. Lattke, P. Keck The Evolution of Automation in Parking – Assisted, Automated, Autonomous S. 61-74

„… for Parking Systems Processing all the data provided by the different sensors is a demanding task …” „… with entry systems based on ultrasonic sensors up to performance systems based on a fusion of …” „… Continental team in recent years. Around 2014 and 2015 it all started by leveraging sensors like camera and …”

doi.org/10.51202/9783181023846

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LAND.TECHNIK 2016

VDI Wissensforum GmbH (Hrsg.)

Reihe: VDI-Berichte

Band 2273 2016

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C. Weltzien, R. Gebbers Von der Datensenke zum Wissensmanagement: Aktuelle Herausforderungen der Sensor- und Automatisierungstechnik im Pflanzenbau S. 369-376

„… Automatisierungstechnik im Pflanzenbau From Data Sinks to Knowledge Management: Current Challenges of Sensor and …” „… handelt wie bei den „typischen“ Big Data Ansätzen, sondern um gezielt durch Sensoren ermittelte Daten. Big …” „… Von der Datensenke zum Wissensmanagement: Aktuelle Herausforderungen der Sensor- und …”

T. Korthals, T. Krause, A. Skiba Einsatz Event-Basierter Systemarchitektur für Erntemaschinen zur Elektronischen Umfelderkennung S. 167-172

„… Sensormodel (ISM) akquiriert und fusioniert. Jeder einzelne Sensor, oder Sensor-Set, baut dabei eine eigene …” „… voraussetzt. 2. Anforderungen an Kartographierungssysteme auf Basis verteilter Sensorik Die einfachste …” „… wird. Ein entsprechendes Beispiel für redundante und komplementäre Fusion zur Erlangung einer …”

B. Seiferth, S. Thurner, J. Fehrmann Selective pasture maintenance by an autonomous mobile machine – Development of a pasture robot S. 235-246

„… pasture through the introduction and fusion of innovative tools. 2. Optimisation of pasture grazing by …” „… . Additional devices, e.g. the control of the motor for the seeder and sensors can be connected to the low …” „… agricultural ECU is communicating and acquiring data from 2D laser scanner based on TCP/IP Ethernet connection …”

doi.org/10.51202/9783181022733

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Grid-based Environment Estimation for Local Autonomous Vehicle Navigation

Georg Tanzmeister

Reihe: Mess-, Steuerungs- und Regelungstechnik

Band 1246 2016

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Grid-based Tracking and Mapping S. 10-39

„… used, their scan grids can be fused, as one way of sensor data fusion. Both, scan grid generation and …” „… individual sensors can be fused to increase robustness and to increase the field of view. Sensor data fusion …” „… environment model, rather than building upon raw sensor data. It is therefore crucial for the overall …”

Introduction S. 1-9

„… [80]. Sensor data fusion further increases the complexity. Without completeness, but in order to give …” „… -independent. This eases fusion of diverse sensor data. The low-level representation is in form of a grid, i.e., a …” „… representation and the understanding of the environment around the vehicle based on real-time sensor data with …”

Titelei/Inhaltsverzeichnis S. I-XIV

„… masses of sensor si ms scan grid representing belief masses after sensor data fusion mt map grid …” „… environment. All approaches have been evaluated with sensor data from real road scenarios, and their …” „… each detected roadway given the grid map. All developed methods have been evaluated with sensor data …”

Bibliography S. 137-154

„… fusion with asynchronous sensors using information matrix fusion for surround environment perception …” „… . 400–406. [19] Q. Baig and O. Aycard, “Improving moving objects tracking using road model for laser data …” „… . Bouzouraa and U. Hofmann, “Fusion of occupancy grid mapping and model based object tracking for driver …”

doi.org/10.51202/9783186246080

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