Paper ID: 2303.07430

A Modular Platform For Collaborative, Distributed Sensor Fusion

R. Spencer Hallyburton, Nate Zelter, David Hunt, Kristen Angell, Miroslav Pajic

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.

Submitted: Mar 13, 2023