Reformulates residual risk as the expected value over a Gaussian ego-pose belief distribution and incorporates it into particle-based collision probabilities via covariance fusion.
Fault tree handbook,
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Belief-Space Residual Risk for Automated Driving under Localization Uncertainty
Reformulates residual risk as the expected value over a Gaussian ego-pose belief distribution and incorporates it into particle-based collision probabilities via covariance fusion.