Robust Automated Driving in Extreme Weather

CORDIS oferuje możliwość skorzystania z odnośników do publicznie dostępnych publikacji i rezultatów projektów realizowanych w ramach programów ramowych HORYZONT.

Odnośniki do rezultatów i publikacji związanych z poszczególnymi projektami 7PR, a także odnośniki do niektórych konkretnych kategorii wyników, takich jak zbiory danych i oprogramowanie, są dynamicznie pobierane z systemu OpenAIRE .

Rezultaty

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.

Validation of the simulation-assisted test methods and proposed test plan

This report describes to what extent simulation can be used to test automated vehicle systems.

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 performance assessment according to KPIs

Final report on the system performance based on the KPIs.

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.

Report evaluating compliance with OpenX standards

A report evaluating compliance with OpenX standards will be delivered. This will include recommendations to modify ROADVIEW models to enhance interoperability and advance the OpenX standards.

Final impact report

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

Report of final ROADVIEW Summit

Final ROADVIEW Summit event open to externals to present results and outcomes.

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.

Report on the ROADVIEW standards

The fundamental standards for the ROADVIEW perception and control systems will be reported by referring to different levels of autonomy in different weather and traffic conditions.

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.

Publikacje

Synthetic Extreme Weather for AI training: Concept and Validation

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

Quantifying Blockage Detection in 4D Automotive Radars

Autorzy: Henrik Toss, Martin Sanfridson
Opublikowane w: 2026 20th European Conference on Antennas and Propagation (EuCAP), 2026
Wydawca: IEEE
DOI: 10.23919/EUCAP68105.2026.11612756

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

Autorzy: Tuomas Herranen, Erik Henriksson, Pak Hung Chan, Yuri Poledna, Pierre Duthon, Amine Ben-Daoued, Maikol Drechsler, Valentina Donzella
Opublikowane w: Autonomous Systems for Security and Defence, 2024
Wydawca: SPIE
DOI: 10.1117/12.3031473

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

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

Mitigating Systematic Errors in Roadside Camera-Based V2X Perception

Autorzy: Maxime Cancouet, Hervé Ruellan, Romain Bellessort, Isabelle Morvan, Eric Nassor, Heikki Hyyti, Jean-Marie Bonnin
Opublikowane w: 2026 IEEE Intelligent Vehicles Symposium (IV), 2026
Wydawca: IEEE
DOI: 10.5281/ZENODO.18935750

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

Autorzy: Tiago Cortinhal, Idriss Gouigah, Eren Erdal Aksoy
Opublikowane w: 2024 IEEE Intelligent Vehicles Symposium (IV), 2024
Wydawca: IEEE
DOI: 10.1109/IV55156.2024.10588782

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

Autorzy: Nour Alhuda Albashir, Lars Pernickel, Danial Hamoud, Idriss Gouigah, Eren Erdal Aksoy
Opublikowane w: 2026 IEEE Intelligent Vehicles Symposium (IV), 2026
Wydawca: IEEE
DOI: 10.1109/IV66570.2026.11624018

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

Autorzy: Pierre Duthon, Sébastien Liandrat, Amine Ben-Daoued, Jean-Luc Bicard, Mickaël Ferreira-Fernandes, David Bicard, Frédéric Bernardin
Opublikowane w: Agritech Day - 8th Edition 2025, 2025
Wydawca: Axema

Vehicle Dynamics Parameter Estimation Methodology for Virtual Automated Driving Testing

Autorzy: Maikol Funk Drechsler, Yuri Poledna, Mattias Hjort, Sogol Kharrazi, Werner Huber
Opublikowane w: 2024 IEEE International Automated Vehicle Validation Conference (IAVVC), 2024
Wydawca: IEEE
DOI: 10.1109/IAVVC63304.2024.10786416

REHEARSE: adveRse wEatHEr datAset for sensoRy noiSe modEls

Autorzy: Yuri Poledna, Maikol Funk Drechsler, Valentina Donzella, Pak Hung Chan, Pierre Duthon, Werner Huber
Opublikowane w: 2024 IEEE Intelligent Vehicles Symposium (IV), 2024
Wydawca: IEEE
DOI: 10.1109/IV55156.2024.10588491

Ensuring Human Safety and Accountability Through Data Management in Automated Driving

Autorzy: Ian Marsh, Thanh Hai Bui
Opublikowane w: 2026 1st International Conference on Human Centric Artificial Intelligence (ICHCAI), 2026
Wydawca: IEEE
DOI: 10.1109/ICHCAI70183.2026.11607538

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

Autorzy: Zixiang Wei, Yunruo Jiang, Pak Hung Chan, Yiting Wang, Yuri Poledna, Valentina Donzella
Opublikowane w: 2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC), 2026
Wydawca: IEEE
DOI: 10.1109/ITSC58415.2024.11414063

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

Autorzy: Raisuddin, Abu Mohammed; Cortinhal, Tiago; Holmblad, Jesper; Aksoy, Eren Erdal
Opublikowane w: 2024 IEEE Intelligent Vehicles Symposium (IV), 2024
Wydawca: IEEE
DOI: 10.36227/TECHRXIV.24297166.V1

Rain Reflectivity Distribution and Detectability in Automotive Radar

Autorzy: Henrik Toss, Kristian Karlsson, Pierre Duthon, Yuri Poledna
Opublikowane w: 2025 IEEE 28th International Conference on Intelligent Transportation Systems (ITSC), 2026
Wydawca: IEEE
DOI: 10.1109/ITSC60802.2025.11423144

Data Readiness Levels for Automated Driving

Autorzy: Ian Marsh, Victor Stenmark, Yuri Poledna, Heikki Hyyti, Martin Sanfridson, Eren Aksoy
Opublikowane w: 2026 IEEE Intelligent Vehicles Symposium (IV), 2026
Wydawca: IEEE
DOI: 10.1109/IV66570.2026.11623873

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

Autorzy: Amine Ben-Daoued; Frédéric Bernardin; Pierre Duthon
Opublikowane w: ATEC ITS Congress, 2023
Wydawca: HAL

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

Autorzy: Hamed Ouattara, Pierre Duthon, Pascal Houssam Salmane, Frédéric Bernardin, Omar Ait Aider
Opublikowane w: Lecture Notes in Computer Science, Pattern Recognition, 2026
Wydawca: 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

Autorzy: Wang, Yiting, Zhao, Haonan, Debattista, Kurt and Donzella, Valentina
Opublikowane w: 26th IEEE International Conference on Intelligent Transportation Systems (ITSC 2023), 2023
Wydawca: WRAP Warwick

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

Autorzy: Maikol Funk Drechsler, Christoph Sell, Yuri Poledna, Werner Huber
Opublikowane w: 2025 IEEE International Conference on Vehicular Electronics and Safety (ICVES), 2026
Wydawca: IEEE
DOI: 10.1109/ICVES65691.2025.11376566

Compressing Noisy Bayer Images: Impact on Object Detection in Automotive

Autorzy: Hetian Wang, Pak Hung Chan, Valentina Donzella
Opublikowane w: 2025 IEEE International Conference on Vehicular Electronics and Safety (ICVES), 2026
Wydawca: IEEE
DOI: 10.1109/ICVES65691.2025.11376319

Parametric Physics-Based Snow Model for Automotive Cameras

Autorzy: Pak Hung Chan, Kurt Debattista, Valentina Donzella
Opublikowane w: 2024 IEEE SENSORS, 2024
Wydawca: IEEE
DOI: 10.1109/SENSORS60989.2024.10784836

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

Autorzy: Zixiang Wei, Yiting Wang, Kurt Debattista, Valentina Donzella
Opublikowane w: Knowledge-Based Systems, Numer 340, 2026, ISSN 0950-7051
Wydawca: Elsevier BV
DOI: 10.1016/J.KNOSYS.2026.115666

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

Autorzy: Pak Hung Chan; Sepeedeh Shahbeigi Roudposhti; Xinyi Ye; Valentina Donzella
Opublikowane w: IEEE Sensors Journal, 2025, ISSN 1558-1748
Wydawca: IEEE
DOI: 10.36227/TECHRXIV.24517249

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

Autorzy: Pak Hung Chan, Chuheng Wei, Anthony Huggett, Valentina Donzella
Opublikowane w: IEEE Access, Numer 13, 2025, ISSN 2169-3536
Wydawca: IEEE
DOI: 10.36227/TECHRXIV.23807499.V1

Data-Driven Headlight Flare Model for Automotive Cameras

Autorzy: Boda Li, Hetian Wang, Yiting Wang, Pak Hung Chan, Darryl Perks, Valentina Donzella
Opublikowane w: IEEE Open Journal of Vehicular Technology, Numer 6, 2025, ISSN 2644-1330
Wydawca: 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

Autorzy: Chan, Pak Hung; Li, Boda; Baris, Gabriele; Sadiq, Qasim; Donzella, Valentina
Opublikowane w: Data-Centric Engineering, 2024, ISSN 2632-6736
Wydawca: Cambridge University Press
DOI: 10.36227/TECHRXIV.170630689.97107789/V1

A Novel Score-based LiDAR Point Cloud degradation Analysis Method

Autorzy: Sepeedeh Shahbeigi, Honahan Robinson, Valentina Donzella
Opublikowane w: IEEE Transactions and Journals, 2024, ISSN 1803-7232
Wydawca: IEEE Xplore
DOI: 10.1109/ACCESS.2024.3359300

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

Autorzy: 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
Opublikowane w: IEEE Robotics and Automation Letters, Numer 11, 2026, ISSN 2377-3766
Wydawca: 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

Autorzy: Gabriele Baris, Boda Li, Pak Hung Chan, Carlo Alberto Avizzano, Valentina Donzella
Opublikowane w: IEEE Access, Numer 13, 2025, ISSN 2169-3536
Wydawca: 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

Autorzy: Eugeniu Vezeteu, Heikki Hyyti, Ville Kyrki, Juha Hyyppä
Opublikowane w: ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Numer X-2/W2-2025, 2025, ISSN 2194-9050
Wydawca: 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

Autorzy: Amine Ben-Daoued; Frédéric Bernardin; Pierre Duthon
Opublikowane w: Journal of Imaging, 2024, ISSN 3064-6936
Wydawca: MDPI
DOI: 10.3390/JIMAGING10120306

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

Autorzy: Valentina Donzella, Pak Hung Chan, Daniel Gummadi, Abu Mohammed Raisuddin, Eren Erdal Aksoy
Opublikowane w: IEEE Sensors Journal, Numer 25, 2025, ISSN 1530-437X
Wydawca: 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

Autorzy: Tiago Cortinhal, Eren Erdal Aksoy
Opublikowane w: Robotics and Autonomous Systems, 2023, ISSN 0921-8890
Wydawca: Science Direct | Elsevier
DOI: 10.1016/j.robot.2023.104583

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

Autorzy: Yiting Wang, Boda Li, Zixiang Wei, Anima Rahman, Daniel Gummadi, Haonan Zhao, Valentina Donzella
Opublikowane w: IEEE Transactions on Intelligent Transportation Systems, Numer 26, 2025, ISSN 1524-9050
Wydawca: 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

Autorzy: Abhijeet Behera, Sogol Kharrazi, Erik Frisk, Maytheewat Aramrattana
Opublikowane w: Transportation Research Interdisciplinary Perspectives, Numer 39, 2026, ISSN 2590-1982
Wydawca: Elsevier BV
DOI: 10.1016/J.TRIP.2026.102236

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

Autorzy: Heikki Hyyti, Matias Mäki-Leppilampi, Harri Kaartinen
Opublikowane w: The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Numer XLIX-B1-2026, 2026, ISSN 2194-9034
Wydawca: Copernicus GmbH
DOI: 10.5194/ISPRS-ARCHIVES-XLIX-B1-2026-255-2026

Robustness of Panoptic Segmentation for Degraded Automotive Cameras Data

Autorzy: Yiting Wang, Haonan Zhao, Daniel Gummadi, Mehrdad Dianati, Kurt Debattista, Valentina Donzella
Opublikowane w: IEEE Transactions on Automation Science and Engineering, Numer 22, 2025, ISSN 1545-5955
Wydawca: 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

Autorzy: Abu Mohammed Raisuddin, Jesper Holmblad, Hamed Haghighi, Yuri Poledna, Maikol Funk Drechsler, Valentina Donzella, Eren Erdal Aksoy
Opublikowane w: Sensors, Numer 26, 2026, ISSN 1424-8220
Wydawca: MDPI AG
DOI: 10.3390/S26020728

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

Autorzy: Amine Ben-Daoued; Pierre Duthon; Frédéric Bernardin
Opublikowane w: Journal of Imaging, 2023, ISSN 2313-433X
Wydawca: MDPI
DOI: 10.3390/jimaging9020054

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

Autorzy: Hamed Haghighi, Yiting Wang, Mehrdad Dianati, Kurt Debattista, Valentina Donzella
Opublikowane w: IEEE Sensors Journal, Numer 26, 2026, ISSN 1530-437X
Wydawca: 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

Autorzy: Fredrik Warg; Valentina Donzella; Pak Hung Chan; Jonathan Robinson; Yuri Poledna; Sebastien Liandrat; Umut Cihan; Maytheewat Aramrattana; Graham Lee; Eren Erdal Aksoy
Opublikowane w: Open Research Europe, 2024, ISSN 2732-5121
Wydawca: European Commission
DOI: 10.12688/OPENRESEUROPE.18592.1

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

Autorzy: Julius Pesonen
Opublikowane w: Machine Learning, Data Science and Artificial Intelligence, 2023
Wydawca: Aaltodoc publication archive

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

Autorzy: Daniel Gummadi, Pak Hung Chan, Hetian Wang, Valentina Donzella
Opublikowane w: TechRxiv, 2023
Wydawca: TechRxiv
DOI: 10.36227/techrxiv.24566371.v1

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

Autorzy: Gabriele Baris, Boda Li, Pak Hung Chan, Carlo Alberto Avizzano, Valentina Donzella
Opublikowane w: TechRxiv, 2023
Wydawca: TechRxiv
DOI: 10.36227/techrxiv.23047412.v1

An Experimental Study on ObjectTracking

Autorzy: Mahmoud Alshaikh
Opublikowane w: 2025
Wydawca: n/a

Road Grip Uncertainty Estimation Through Surface State Segmentation

Autorzy: Jyri Maanpää, Julius Pesonen, Iaroslav Melekhov, Heikki Hyyti, Juha Hyyppä
Opublikowane w: Lecture Notes in Computer Science, Image Analysis, 2025
Wydawca: Springer Nature Switzerland
DOI: 10.1007/978-3-031-95911-0_17

Dense Road Surface Grip Map Prediction from Multimodal Image Data

Autorzy: Jyri Maanpää, Julius Pesonen, Heikki Hyyti, Iaroslav Melekhov, Juho Kannala, Petri Manninen, Antero Kukko, Juha Hyyppä
Opublikowane w: Lecture Notes in Computer Science, Pattern Recognition, 2024
Wydawca: Springer Nature Switzerland
DOI: 10.1007/978-3-031-78447-7_26

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