Verification of Camera-Based Autonomous Systems

被引：5

作者：

Habeeb, P. ^{[1
]}

Deka, Nabarun ^{[1
]}

D'Souza, Deepak ^{[1
]}

Lodaya, Kamal ^{[2
]}

Prabhakar, Pavithra ^{[3
]}

机构：

[1] Indian Inst Sci, Dept Comp Sci & Automat, Bangalore 560012, India

[2] Inst Math Sci, Chennai 600113, India

[3] Kansas State Univ, Dept Comp Sci, Manhattan, KS 66506 USA

来源：

IEEE TRANSACTIONS ON COMPUTER-AIDED DESIGN OF INTEGRATED CIRCUITS AND SYSTEMS | 2023年 / 42卷 / 10期

关键词：

Cameras; Trajectory; Sensors; Image color analysis; Apertures; Laser radar; Autonomous vehicles; cameras; mobile robots; software verification and validation;

D O I：

10.1109/TCAD.2023.3240131

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

We consider the problem of verifying the safety of the trajectories of a camera-based autonomous vehicle in a given 3-D-scene. We give a procedure to verify that all trajectories starting from a given initial region reach a specified target region safely without colliding with obstacles on the way. We also give a prioritization-based falsification procedure that collects unsafe trajectories. Both our procedures are based on the key notion of image-invariant regions, which are regions within which the captured images are identical. We evaluate our methods on a model of an autonomous road-following drone in a variety of 3-D-scenes; our experimental results demonstrate the feasibility and benefits of our approach for both safety analysis and falsification.

引用

页码：3450 / 3463

页数：14

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