Robust Automated Driving in Extreme Weather

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Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Deliverables

SW on Improved Localization Using High-density Map Updating - Final report

A final report related SW of a compressed HD map representation that can cope with the seasonal changes and can be kept updated while excluding the dynamic objects.

Final KPI specifications

Update on the KPI specifications.

Evaluation of sensors in-situ

Report on robustness of shielded sensors based on data while driving in real-world harsh weather conditions, including possible mitigations such as design choices, filtering, and calibration.

Test plan regarding the most appropriate test method

Report defining how to test single components and integrated automated vehicle systems in virtual and real domains. It will consider specific uses-cases under extreme weather conditions.

Report on data privacy and storage

Data privacy and storage of the logged data.

Final readiness assessment of specific datasets

Final report on the quantitative evaluation of the ROADVIEW DRL method on public datasets and on the ROADVIEW dataset using enlarged feature sets.

Initial readiness assessment of specific datasets

Report on the quantitative evaluation of the ROADVIEW DRL method on public datasets using a limited feature size.

Interim impact report

Interim impact report on communication and dissemination activities, including those at the international level. An update of the DCP plan will be considered.

SW on Improved Localization Using High-density Map Updating - First report

A first report related SW of a compressed HD map representation that can cope with the seasonal changes and can be kept updated while excluding the dynamic objects.

SW on Collaborative Perception Solutions - Final report

A final report on improving vehicle perception with sharing information provided by sensors from other connected vehicles or VRUs and roadside infrastructure.

SW on Adaptive Sensor Fusion and Perception Solutions - Final report

A final report on algorithms and SW developed to detect weather-related physical conditions (e.g., heavy rain, fog, slush and snow), free space detection, object detection and tracking, and adaptive sensor fusion.

SW on Adaptive Sensor Fusion and Perception Solutions - First report

A first report on algorithms and SW developed to detect weather-related physical conditions (e.g., heavy rain, fog, slush and snow), free space detection, object detection and tracking, and adaptive sensor fusion.

Stakeholder report and strategy

Stakeholder report and strategy including detailed stakeholder mapping and strategies to reach key target audiences.

Environmental and weather condition state estimates

Report on the online state estimation method providing the reliable visibility range and weather conditions using camera, LiDAR, and RADAR sensor data.

Vehicle dynamics modelling methodology

A public report will be published along with any relevant publications on vehicle dynamics modelling methodologies. In addition, a representative library of vehicle dynamics models for a selection of vehicles available within the consortium will be delivered.

Definition of the complex environment conditions

An extended ODD taxonomy will be reported considering harsh weather conditions and complex urban/rural environments.

XAI design of perception solutions

Explainability requirement specifications, report and implementation of XAI design for AI models developed in Tasks 5.2 and 5.3.

SW on Collaborative Perception Solutions - First report

A first report on improving vehicle perception with sharing information provided by sensors from other connected vehicles or VRUs and roadside infrastructure.

Report on data annotation

Report on the categorisation and labelling of data.

Use cases and scenarios

A set of use cases with multiple scenarios will be reported based on the ODD taxonomy defined in Task 2.1.

Plan for the dissemination and communication activities

Plan for the dissemination and communication activities including defined strategy, tools, channels and (international) activities.

Initial KPI specifications

Report on the KPI specifications.

Relevant metrics to assert the validity of the simulation-assisted test methods

This report describes the relevant metrics for the validation of simulation-assisted methods in comparison to controlled environment/proving ground reference values.

Library of internal sensor noise models and compound noise modelling methodology

A library of internal sensor noise models for the perception sensors selected for the project will be delivered. This will be accompanied by a report on noise modelling, the methodologies to combine multiple noise factor effects on the sensor outputs for different sensor technologies, and any significant corner cases or scenarios to test where compound noise could create significant degradation of sensor performance.

Library of validated physics-based parameterised noise models

A library of validated physics-based parameterised noise models for the selected perception sensor technologies with detailed report on implementation, validation methods and comparison of the generated models based on the agreed evaluation metrics.

Library of validated statistical noise models

A library of validated statistical noise models for the selected perception sensor technologies will be delivered with a detailed report on implementation and validation methods used.

GitHub release of ROADVIEW Readiness levels

Release of the source code for DRL.

Reference dataset of measured weather characteristics

Reference datasets for the controlled environment and real-world site weather characteristics will be delivered, with a detailed report on data collection methodology.

Publications

Synthetic Extreme Weather for AI training: Concept and Validation

Author(s): Letícia Cristófoli Duarte Silva, Maikol Funk Drechsler, Yuri Poledna, Werner Huber, Thiago Antonio Fiorentin
Published in: 2023 Third International Conference on Digital Data Processing (DDP), 2024, ISSN 2473-2001
Publisher: IEEExplore
DOI: 10.1109/DDP60485.2023.00044

Quantifying Blockage Detection in 4D Automotive Radars

Author(s): Henrik Toss, Martin Sanfridson
Published in: 2026 20th European Conference on Antennas and Propagation (EuCAP), 2026
Publisher: IEEE
DOI: 10.23919/EUCAP68105.2026.11612756

Creation of digital models for accelerated and reliable testing of automated systems in adverse weather

Author(s): Tuomas Herranen, Erik Henriksson, Pak Hung Chan, Yuri Poledna, Pierre Duthon, Amine Ben-Daoued, Maikol Drechsler, Valentina Donzella
Published in: Autonomous Systems for Security and Defence, 2024
Publisher: SPIE
DOI: 10.1117/12.3031473

Validating Camera Sensor Models for Virtual Testing of Vision Systems in Automated Driving

Author(s): Fabian Ulreich, Maikol Funk Drechsler, Yuri Poledna, Pak Hung Chan, Tuomas Herranen, Martin Ebert, André Kaup, Werner Huber
Published in: 2025 IEEE International Conference on Vehicular Electronics and Safety (ICVES), 2026
Publisher: IEEE
DOI: 10.1109/ICVES65691.2025.11376043

Mitigating Systematic Errors in Roadside Camera-Based V2X Perception

Author(s): Maxime Cancouet, Hervé Ruellan, Romain Bellessort, Isabelle Morvan, Eric Nassor, Heikki Hyyti, Jean-Marie Bonnin
Published in: 2026 IEEE Intelligent Vehicles Symposium (IV), 2026
Publisher: IEEE
DOI: 10.5281/ZENODO.18935750

Semantics-aware LiDAR-Only Pseudo Point Cloud Generation for 3D Object Detection

Author(s): Tiago Cortinhal, Idriss Gouigah, Eren Erdal Aksoy
Published in: 2024 IEEE Intelligent Vehicles Symposium (IV), 2024
Publisher: IEEE
DOI: 10.1109/IV55156.2024.10588782

LRC-WeatherNet: LiDAR, RADAR, and Camera Fusion Network for Real-time Weather-type Classification in Autonomous Driving

Author(s): Nour Alhuda Albashir, Lars Pernickel, Danial Hamoud, Idriss Gouigah, Eren Erdal Aksoy
Published in: 2026 IEEE Intelligent Vehicles Symposium (IV), 2026
Publisher: IEEE
DOI: 10.1109/IV66570.2026.11624018

PAVIN Extreme Weather Facility: A Cutting-Edge Testing Environment for Agricultural Robotics

Author(s): Pierre Duthon, Sébastien Liandrat, Amine Ben-Daoued, Jean-Luc Bicard, Mickaël Ferreira-Fernandes, David Bicard, Frédéric Bernardin
Published in: Agritech Day - 8th Edition 2025, 2025
Publisher: Axema

Vehicle Dynamics Parameter Estimation Methodology for Virtual Automated Driving Testing

Author(s): Maikol Funk Drechsler, Yuri Poledna, Mattias Hjort, Sogol Kharrazi, Werner Huber
Published in: 2024 IEEE International Automated Vehicle Validation Conference (IAVVC), 2024
Publisher: IEEE
DOI: 10.1109/IAVVC63304.2024.10786416

REHEARSE: adveRse wEatHEr datAset for sensoRy noiSe modEls

Author(s): Yuri Poledna, Maikol Funk Drechsler, Valentina Donzella, Pak Hung Chan, Pierre Duthon, Werner Huber
Published in: 2024 IEEE Intelligent Vehicles Symposium (IV), 2024
Publisher: IEEE
DOI: 10.1109/IV55156.2024.10588491

Ensuring Human Safety and Accountability Through Data Management in Automated Driving

Author(s): Ian Marsh, Thanh Hai Bui
Published in: 2026 1st International Conference on Human Centric Artificial Intelligence (ICHCAI), 2026
Publisher: IEEE
DOI: 10.1109/ICHCAI70183.2026.11607538

Darwick: A Paired Dataset in Low-Light Driving Scenarios for Advanced Perceptual Enhancement and Benchmarking Assessment

Author(s): Zixiang Wei, Yunruo Jiang, Pak Hung Chan, Yiting Wang, Yuri Poledna, Valentina Donzella
Published in: 2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC), 2026
Publisher: IEEE
DOI: 10.1109/ITSC58415.2024.11414063

3D-OutDet: A Fast and Memory Efficient Outlier Detector for 3D LiDAR Point Clouds in Adverse Weather

Author(s): Raisuddin, Abu Mohammed; Cortinhal, Tiago; Holmblad, Jesper; Aksoy, Eren Erdal
Published in: 2024 IEEE Intelligent Vehicles Symposium (IV), 2024
Publisher: IEEE
DOI: 10.36227/TECHRXIV.24297166.V1

Rain Reflectivity Distribution and Detectability in Automotive Radar

Author(s): Henrik Toss, Kristian Karlsson, Pierre Duthon, Yuri Poledna
Published in: 2025 IEEE 28th International Conference on Intelligent Transportation Systems (ITSC), 2026
Publisher: IEEE
DOI: 10.1109/ITSC60802.2025.11423144

Data Readiness Levels for Automated Driving

Author(s): Ian Marsh, Victor Stenmark, Yuri Poledna, Heikki Hyyti, Martin Sanfridson, Eren Aksoy
Published in: 2026 IEEE Intelligent Vehicles Symposium (IV), 2026
Publisher: IEEE
DOI: 10.1109/IV66570.2026.11623873

Simulation numérique de capteurs perceptifs du véhicule autonome sous conditions météorologiques dégradées

Author(s): Amine Ben-Daoued; Frédéric Bernardin; Pierre Duthon
Published in: ATEC ITS Congress, 2023
Publisher: HAL

Stylistic-STORM (ST-STORM): Self-supervised Spectral Disentanglement Using Adversarial Learning and JEPA for Weather Analysis

Author(s): Hamed Ouattara, Pierre Duthon, Pascal Houssam Salmane, Frédéric Bernardin, Omar Ait Aider
Published in: Lecture Notes in Computer Science, Pattern Recognition, 2026
Publisher: Springer Nature Switzerland
DOI: 10.1007/978-3-032-31673-8_1

The effect of camera data degradation factors on panoptic segmentation for automated driving

Author(s): Wang, Yiting, Zhao, Haonan, Debattista, Kurt and Donzella, Valentina
Published in: 26th IEEE International Conference on Intelligent Transportation Systems (ITSC 2023), 2023
Publisher: WRAP Warwick

Accelerating the Approval of Automated Driving Vehicles through standardized XiL test environments

Author(s): Maikol Funk Drechsler, Christoph Sell, Yuri Poledna, Werner Huber
Published in: 2025 IEEE International Conference on Vehicular Electronics and Safety (ICVES), 2026
Publisher: IEEE
DOI: 10.1109/ICVES65691.2025.11376566

Compressing Noisy Bayer Images: Impact on Object Detection in Automotive

Author(s): Hetian Wang, Pak Hung Chan, Valentina Donzella
Published in: 2025 IEEE International Conference on Vehicular Electronics and Safety (ICVES), 2026
Publisher: IEEE
DOI: 10.1109/ICVES65691.2025.11376319

Parametric Physics-Based Snow Model for Automotive Cameras

Author(s): Pak Hung Chan, Kurt Debattista, Valentina Donzella
Published in: 2024 IEEE SENSORS, 2024
Publisher: IEEE
DOI: 10.1109/SENSORS60989.2024.10784836

Rethinking probabilistic learning for counterfactual low-light image enhancement in robust engineering vision systems

Author(s): Zixiang Wei, Yiting Wang, Kurt Debattista, Valentina Donzella
Published in: Knowledge-Based Systems, Issue 340, 2026, ISSN 0950-7051
Publisher: Elsevier BV
DOI: 10.1016/J.KNOSYS.2026.115666

A Noise Analysis of 4D RADAR: Robust Sensing for Automotive?

Author(s): Pak Hung Chan; Sepeedeh Shahbeigi Roudposhti; Xinyi Ye; Valentina Donzella
Published in: IEEE Sensors Journal, 2025, ISSN 1558-1748
Publisher: IEEE
DOI: 10.36227/TECHRXIV.24517249

Raw Camera Data Object Detectors: An Optimisation for Automotive Video Processing and Transmission

Author(s): Pak Hung Chan, Chuheng Wei, Anthony Huggett, Valentina Donzella
Published in: IEEE Access, Issue 13, 2025, ISSN 2169-3536
Publisher: IEEE
DOI: 10.36227/TECHRXIV.23807499.V1

Data-Driven Headlight Flare Model for Automotive Cameras

Author(s): Boda Li, Hetian Wang, Yiting Wang, Pak Hung Chan, Darryl Perks, Valentina Donzella
Published in: IEEE Open Journal of Vehicular Technology, Issue 6, 2025, ISSN 2644-1330
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/OJVT.2025.3601400

The inconvenient truth of ground truth errors in automotive datasets and DNN-based detection

Author(s): Chan, Pak Hung; Li, Boda; Baris, Gabriele; Sadiq, Qasim; Donzella, Valentina
Published in: Data-Centric Engineering, 2024, ISSN 2632-6736
Publisher: Cambridge University Press
DOI: 10.36227/TECHRXIV.170630689.97107789/V1

A Novel Score-based LiDAR Point Cloud degradation Analysis Method

Author(s): Sepeedeh Shahbeigi, Honahan Robinson, Valentina Donzella
Published in: IEEE Transactions and Journals, 2024, ISSN 1803-7232
Publisher: IEEE Xplore
DOI: 10.1109/ACCESS.2024.3359300

Snowy Scenes: A Multimodal Multitask Dataset Toward Snow-Tonomous Vehicles

Author(s): Thien-Thu Ngo, Abu Mohammed Raisuddin, Idriss Gouigah, Paula Litkey, Petri Manninen, Heikki Hyyti, Jyri Maanpaa, Tuomas Herranen, Vaisanen Sofie, Kalle Niemi, Lars Pernickel, Eren Erdal Aksoy
Published in: IEEE Robotics and Automation Letters, Issue 11, 2026, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2026.3717187

Automotive DNN-Based Object Detection in the Presence of Lens Obstruction and Video Compression

Author(s): Gabriele Baris, Boda Li, Pak Hung Chan, Carlo Alberto Avizzano, Valentina Donzella
Published in: IEEE Access, Issue 13, 2025, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/ACCESS.2025.3544773

Fast Point Ranking - Robust Cloud Voxelization and Denoising for Lidar Odometry and Mapping in Adverse Weather Conditions

Author(s): Eugeniu Vezeteu, Heikki Hyyti, Ville Kyrki, Juha Hyyppä
Published in: ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Issue X-2/W2-2025, 2025, ISSN 2194-9050
Publisher: Copernicus GmbH
DOI: 10.5194/ISPRS-ANNALS-X-2-W2-2025-199-2025

A Comparative Review of the SWEET Simulator: Theoretical Verification Against Other Simulators

Author(s): Amine Ben-Daoued; Frédéric Bernardin; Pierre Duthon
Published in: Journal of Imaging, 2024, ISSN 3064-6936
Publisher: MDPI
DOI: 10.3390/JIMAGING10120306

LiDAR De-Snow Score (DSS): Combining Quality and Perception Metrics for Optimized De-Noising

Author(s): Valentina Donzella, Pak Hung Chan, Daniel Gummadi, Abu Mohammed Raisuddin, Eren Erdal Aksoy
Published in: IEEE Sensors Journal, Issue 25, 2025, ISSN 1530-437X
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/JSEN.2025.3570478

Depth- and semantics-aware multi-modal domain translation: Generating 3D panoramic color images from LiDAR point clouds

Author(s): Tiago Cortinhal, Eren Erdal Aksoy
Published in: Robotics and Autonomous Systems, 2023, ISSN 0921-8890
Publisher: Science Direct | Elsevier
DOI: 10.1016/j.robot.2023.104583

A Survey and New Perspective of Sensing in the Dark for Intelligent Transportation Systems

Author(s): Yiting Wang, Boda Li, Zixiang Wei, Anima Rahman, Daniel Gummadi, Haonan Zhao, Valentina Donzella
Published in: IEEE Transactions on Intelligent Transportation Systems, Issue 26, 2025, ISSN 1524-9050
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/TITS.2025.3600557

Two-dimensional time-to-collision measures for articulated vehicles: Predicting sideswipe and rear-end collisions

Author(s): Abhijeet Behera, Sogol Kharrazi, Erik Frisk, Maytheewat Aramrattana
Published in: Transportation Research Interdisciplinary Perspectives, Issue 39, 2026, ISSN 2590-1982
Publisher: Elsevier BV
DOI: 10.1016/J.TRIP.2026.102236

Geometric and radiometric Calibration of a rotating multi-beam Lidar using a rotating tilted Platform

Author(s): Heikki Hyyti, Matias Mäki-Leppilampi, Harri Kaartinen
Published in: The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Issue XLIX-B1-2026, 2026, ISSN 2194-9034
Publisher: Copernicus GmbH
DOI: 10.5194/ISPRS-ARCHIVES-XLIX-B1-2026-255-2026

Robustness of Panoptic Segmentation for Degraded Automotive Cameras Data

Author(s): Yiting Wang, Haonan Zhao, Daniel Gummadi, Mehrdad Dianati, Kurt Debattista, Valentina Donzella
Published in: IEEE Transactions on Automation Science and Engineering, Issue 22, 2025, ISSN 1545-5955
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/TASE.2025.3605753

REHEARSE-3D: A Multi-Modal Emulated Rain Dataset for 3D Point Cloud De-Raining

Author(s): Abu Mohammed Raisuddin, Jesper Holmblad, Hamed Haghighi, Yuri Poledna, Maikol Funk Drechsler, Valentina Donzella, Eren Erdal Aksoy
Published in: Sensors, Issue 26, 2026, ISSN 1424-8220
Publisher: MDPI AG
DOI: 10.3390/S26020728

SWEET: A Realistic Multiwavelength 3D Simulator for Automotive Perceptive Sensors in Foggy Conditions

Author(s): Amine Ben-Daoued; Pierre Duthon; Frédéric Bernardin
Published in: Journal of Imaging, 2023, ISSN 2313-433X
Publisher: MDPI
DOI: 10.3390/jimaging9020054

A Unified Generative Framework for Realistic LiDAR Simulation in Autonomous Driving Systems

Author(s): Hamed Haghighi, Yiting Wang, Mehrdad Dianati, Kurt Debattista, Valentina Donzella
Published in: IEEE Sensors Journal, Issue 26, 2026, ISSN 1530-437X
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/JSEN.2025.3642208

From operational design domain to test cases: A methodology to include harsh weather

Author(s): Fredrik Warg; Valentina Donzella; Pak Hung Chan; Jonathan Robinson; Yuri Poledna; Sebastien Liandrat; Umut Cihan; Maytheewat Aramrattana; Graham Lee; Eren Erdal Aksoy
Published in: Open Research Europe, 2024, ISSN 2732-5121
Publisher: European Commission
DOI: 10.12688/OPENRESEUROPE.18592.1

Pixelwise Road Surface Slipperiness Estimation for Autonomous Driving with Weakly Supervised Learning

Author(s): Julius Pesonen
Published in: Machine Learning, Data Science and Artificial Intelligence, 2023
Publisher: Aaltodoc publication archive

Correlating traditional image quality metrics and DNN-based object detection: a case study with compressed camera data

Author(s): Daniel Gummadi, Pak Hung Chan, Hetian Wang, Valentina Donzella
Published in: TechRxiv, 2023
Publisher: TechRxiv
DOI: 10.36227/techrxiv.24566371.v1

Analysis of Faster R-CNN network prediction in the presence of lens occlusion and video compression

Author(s): Gabriele Baris, Boda Li, Pak Hung Chan, Carlo Alberto Avizzano, Valentina Donzella
Published in: TechRxiv, 2023
Publisher: TechRxiv
DOI: 10.36227/techrxiv.23047412.v1

An Experimental Study on ObjectTracking

Author(s): Mahmoud Alshaikh
Published in: 2025
Publisher: n/a

Road Grip Uncertainty Estimation Through Surface State Segmentation

Author(s): Jyri Maanpää, Julius Pesonen, Iaroslav Melekhov, Heikki Hyyti, Juha Hyyppä
Published in: Lecture Notes in Computer Science, Image Analysis, 2025
Publisher: Springer Nature Switzerland
DOI: 10.1007/978-3-031-95911-0_17

Dense Road Surface Grip Map Prediction from Multimodal Image Data

Author(s): Jyri Maanpää, Julius Pesonen, Heikki Hyyti, Iaroslav Melekhov, Juho Kannala, Petri Manninen, Antero Kukko, Juha Hyyppä
Published in: Lecture Notes in Computer Science, Pattern Recognition, 2024
Publisher: Springer Nature Switzerland
DOI: 10.1007/978-3-031-78447-7_26

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