A Modular Platform For Collaborative, Distributed Sensor Fusion
Leading autonomous vehicle (AV) platforms and testing infrastructures are, unfortunately, proprietary and closed-source. Thus, it is difficult to evaluate how well safety-critical AVs perform and how safe they truly are. Similarly, few platforms exist for much-needed multi-agent analysis. To provide a starting point for analysis of sensor fusion and collaborative & distributed sensing, we design an accessible, modular sensing platform with AVstack. We build collaborative and distributed camera-radar fusion algorithms and demonstrate an evaluation ecosystem of AV datasets, physics-based simulators, and hardware in the physical world. This three-part ecosystem enables testing next-generation configurations that are prohibitively challenging in existing development platforms.
Code (1)
Tasks
Sensor FusionSimilar Papers 제목 키워드 기반
DISCO: A Browser-Based Privacy-Preserving Framework for Distributed Collaborative Learning
Data is often impractical to share for a range of well considered reasons, such as concerns over privacy, intellectual property, and legal constraints. This not only fragments the statistical power of predictive models, …
Pobogot -- An Open-Hardware Open-Source Low Cost Robot for Swarm Robotics
This paper describes the Pogobot, an open-source and open-hardware platform specifically designed for research involving swarm robotics. Pogobot features vibration-based locomotion, infrared communication, and an array o…
Communication-Efficient and Interoperable Distributed Learning
Collaborative learning across heterogeneous model architectures presents significant challenges in ensuring interoperability and preserving privacy. We propose a communication-efficient distributed learning framework tha…
Federated LearningData-Driven Distributed State Estimation and Behavior Modeling in Sensor Networks
Nowadays, the prevalence of sensor networks has enabled tracking of the states of dynamic objects for a wide spectrum of applications from autonomous driving to environmental monitoring and urban planning. However, track…
Autonomous DrivingState EstimationDesign and Experimental Validation of an Autonomous USV for Sensor Fusion-Based Navigation in GNSS-Denied Environments
This paper presents the design, development, and experimental validation of MARVEL, an autonomous unmanned surface vehicle built for real-world testing of sensor fusion-based navigation algorithms in GNSS-denied environm…
Sensor Fusion