PVS: A System For Large Scale Outdoor Perception Performance Evaluation
This paper describes the motivation, design and implementation of a Perception Validation System (PVS), a system for measuring the outdoor perception performance of an autonomous vehicle. The PVS relies on using large amounts of real world data and ground truth information to quantify performance aspects such as the rate of false positive or false negative detections of an obstacle detection system. Our system relies on a relational database infrastructure to achieve a high degree of flexibility in the type of analyses it can support. We discuss the main steps required for going from raw data to numerical estimates describing the performance of the perception system, including the generation of ground truth information and the safe speed metric we found to be most useful for comparing the perception system’s outputs to the ground truth data. We present results illustrating some of the analyses that can be completed using the Perception Validation System.
Cristian Dima Carl Wellington Stewart Moorehead Levi Lister Joan Campoy Carlos Vallespi Boyoon Jung Michio Kise Zachary Bonefas
National Robotics Engineering Center,The Robotics Institute,Carnegie Mellon University,Pittsburgh,PA John Deere,Moline,Illinois,USA
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
834-841
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）