A systematic review of perception system and simulators for autonomous vehicles research
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AuthorRosique Contreras, María Francisca; Navarro Lorente, Pedro Javier; Fernández Andrés, José Carlos; Padilla Urrea, Antonio Manuel
Research GroupDivisión de Sistemas e Ingeniería Electrónica (DSIE)
Knowledge AreaTeoría de la Señal y las Comunicaciones
SponsorsThis work was partially supported by DGT (ref. SPIP2017-02286) and GenoVision (ref. BFU2017-88300-C2-2-R) Spanish Government projects, and the “Research Programme for Groups of Scientific Excellence in the Region of Murcia" of the Seneca Foundation (Agency for Science and Technology in the Region of Murcia – 19895/GERM/15).
Bibliographic CitationRosique, F.; Navarro, P.J.; Fernández, C.; Padilla, A. A systematic review of perception system and simulators for autonomous vehicles research. Sensors 2019, 19, 648.
Model based design
This paper presents a systematic review of the perception systems and simulators for autonomous vehicles (AV). This work has been divided into three parts. In the first part, perception systems are categorized as environment perception systems and positioning estimation systems. The paper presents the physical fundamentals, principle functioning, and electromagnetic spectrum used to operate the most common sensors used in perception systems (ultrasonic, RADAR, LiDAR, cameras, IMU, GNSS, RTK, etc.). Furthermore, their strengths and weaknesses are shown, and the quantification of their features using spider charts will allow proper selection of different sensors depending on 11 features. In the second part, the main elements to be taken into account in the simulation of a perception system of an AV are presented. For this purpose, the paper describes simulators for model-based development, the main game engines that can be used for simulation, simulators from the robotics field, and lastly ...
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