A method to insert physically measured 3D point clouds of humanoid targets into real LiDAR scenes, using registered meshes to model occlusion, is shown to produce scenes geometrically close to real sensor scans.
"Curse of rarity" for autonomous vehicles
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abstract
In this paper, we reveal that the rarity of safety-critical events in high-dimensional driving environments is the root cause of the safety challenge for autonomous vehicle development. We formulate it as "curse of rarity" (CoR) because it occurs ubiquitously in various safety-critical systems such as medical diagnosis and aerospace systems.
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cs.RO 1years
2025 1verdicts
CONDITIONAL 1representative citing papers
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Point Cloud Recombination: Systematic Real Data Augmentation Using Robotic Targets for LiDAR Perception Validation
A method to insert physically measured 3D point clouds of humanoid targets into real LiDAR scenes, using registered meshes to model occlusion, is shown to produce scenes geometrically close to real sensor scans.