Camera-Radar Perception for Autonomous Vehicles and ADAS: Concepts, Datasets and Metrics

One of the main paths towards the reduction of traffic accidents is the increase in vehicle safety through driver assistance systems or even systems with a complete level of autonomy. In these types of systems, tasks such as obstacle detection and segmentation, especially the Deep Learning-based ones, play a fundamental role in scene understanding for correct and safe navigation. Besides that, the wide variety of sensors in vehicles nowadays provides a rich set of alternatives for improvement in the robustness of perception in challenging situations, such as navigation under lighting and weather adverse conditions. Despite the current focus given to the subject, the literature lacks studies on radar-based and radar-camera fusion-based perception. Hence, this work aims to carry out a study on the current scenario of camera and radar-based perception for ADAS and autonomous vehicles. Concepts and characteristics related to both sensors, as well as to their fusion, are presented. Additionally, we give an overview of the Deep Learning-based detection and segmentation tasks, and the main datasets, metrics, challenges, and open questions in vehicle perception.

A Threefold Review on Deep Semantic Segmentation: Efficiency-oriented, Temporal and Depth-aware design

Semantic image and video segmentation stand among the most important tasks in computer vision nowadays, since they provide a complete and meaningful representation of the environment by means of a dense classification of the pixels in a given scene. Recently, Deep Learning, and more precisely Convolutional Neural Networks, have boosted semantic segmentation to a new level in terms of performance and generalization capabilities. However, designing Deep Semantic Segmentation models is a complex task, as it may involve application-dependent aspects. Particularly, when considering autonomous driving applications, the robustness-efficiency trade-off, as well as intrinsic limitations - computational/memory bounds and data-scarcity - and constraints - real-time inference - should be taken into consideration. In this respect, the use of additional data modalities, such as depth perception for reasoning on the geometry of a scene, and temporal cues from videos to explore redundancy and consistency, are promising directions yet not explored to their full potential in the literature. In this paper, we conduct a survey on the most relevant and recent advances in Deep Semantic Segmentation in the context of vision for autonomous vehicles, from three different perspectives: efficiency-oriented model development for real-time operation, RGB-Depth data integration (RGB-D semantic segmentation), and the use of temporal information from videos in temporally-aware models. Our main objective is to provide a comprehensive discussion on the main methods, advantages, limitations, results and challenges faced from each perspective, so that the reader can not only get started, but also be up to date in respect to recent advances in this exciting and challenging research field.

A Software Architecture for Autonomous Vehicles: Team LRM-B Entry in the First CARLA Autonomous Driving Challenge

The objective of the first CARLA autonomous driving challenge was to deploy autonomous driving systems to lead with complex traffic scenarios where all participants faced the same challenging traffic situations. According to the organizers, this competition emerges as a way to democratize and to accelerate the research and development of autonomous vehicles around the world using the CARLA simulator contributing to the development of the autonomous vehicle area. Therefore, this paper presents the architecture design for the navigation of an autonomous vehicle in a simulated urban environment that attempts to commit the least number of traffic infractions, which used as the baseline the original architecture of the platform for autonomous navigation CaRINA 2. Our agent traveled in simulated scenarios for several hours, demonstrating his capabilities, winning three out of the four tracks of the challenge, and being ranked second in the remaining track. Our architecture was made towards meeting the requirements of CARLA Autonomous Driving Challenge and has components for obstacle detection using 3D point clouds, traffic signs detection and classification which employs Convolutional Neural Networks (CNN) and depth information, risk assessment with collision detection using short-term motion prediction, decision-making with Markov Decision Process (MDP), and control using Model Predictive Control (MPC).