Assisted and automated driving functions are increasingly deployed to support improved safety and efficiency and enhance the driver experience. However, there are still key technical challenges that need to be overcome, such as the degradation of perception sensor data due to noise factors. The quality of data being generated by sensors can directly impact the planning and control of the vehicle, which can affect the vehicle safety. This work builds on a recently proposed framework, analyzing noise factors on automotive light detection and ranging (LiDAR) sensors, and deploys it to camera sensors, focusing on the specific disturbed sensor outputs via a detailed analysis and classification of automotive camera-specific noise sources (30 noise factors are identified and classified in this work). Moreover, the noise factor analysis has identified two omnipresent and independent noise factors (i.e., obstruction and windshield distortion). These noise factors have been modeled to generate noisy camera data; their impact on the perception step, based on deep neural networks (NNs), has been evaluated when the noise factors are applied independently and simultaneously. It is demonstrated that the performance degradation from the combination of noise factors is not simply the accumulated performance degradation from each single factor, which raises the importance of including the simultaneous analysis of multiple noise factors. Thus, the framework can support and enhance the use of simulation for the development and testing of automated vehicles through careful consideration of the noise factors affecting camera data.

Nowadays, multirotors are versatile systems that can be employed in several scenarios, where their increasing autonomy allows them to achieve complex missions without human intervention. This paper presents a framework for autonomous missions with low-cost Unmanned Aerial Vehicles (UAVs) in Global Navigation Satellite System-denied (GNSS-denied) environments. This paper presents hardware choices and software modules for localization, perception, global planning, local re-planning for obstacle avoidance, and a state machine to dictate the overall mission sequence. The entire software stack has been designed exploiting the Robot Operating System (ROS) middleware and has been extensively validated in both simulation and real environment tests. The proposed solution can run both in simulation and in real-world scenarios without modification thanks to a small sim-to-real gap with PX4 software-in-the-loop functionality. The overall system has competed successfully in the Leonardo Drone Contest, an annual competition between Italian Universities with a focus on low-level, resilient, and fully autonomous tasks for vision-based UAVs, proving the robustness of the entire system design.

Calibrating intrinsic and extrinsic camera parameters is a fundamental problem that is a preliminary task for a wide variety of applications, from robotics to computer vision to surveillance and industrial tasks. With the advent of Internet of Things (IoT) technology and edge computing capabilities, the ability to track motion activities in large outdoor areas has become feasible. The proposed work presents a network of IoT camera nodes and a dissertation on two possible approaches for automatically estimating their poses. One approach follows the Structure from Motion (SfM) pipeline, while the other is marker-based. Both methods exploit the correspondence of features detected by cameras on synchronized frames. A preliminary indoor experiment was conducted to assess the performance of the two methods compared to ground truth measurements, employing a commercial tracking system of millimetric precision. Outdoor experiments directly compared the two approaches on a larger setup. The results show that the proposed SfM pipeline more accurately estimates the pose of the cameras. In addition, in the indoor setup, the same methods were used for a tracking application to show a practical use case.

Recent advances in sensing, electronic, processing, machine learning, and communication technologies are accelerating the development of assisted and automated functions for commercial vehicles. Environmental perception sensor data are processed to generate a correct and complete situational awareness. It is of utmost importance to assess the robustness of the sensor data pipeline, particularly in the case of data degradation in a noisy and variable environment. Sensor data reduction and compression techniques are key for higher levels of driving automation, as there is an expectation that traditional automotive vehicle wired networks will not be able to support the needed sensor datarates (i.e. more than 10 perception sensors, including cameras, LiDARs, and RADARs, generating tens of Gb/s of data). This work proposes for the first time to consider video compression for camera data transmission on vehicle wired networks in the presence of highly noisy data, e.g. partially obstructed camera field of view. The effects are discussed in terms of machine learning vehicle detection accuracy drop, and also visualising how detection performance spatially varies on the frames using the recently introduced metric, the Spatial Recall Index. The presented parametric occlusion noise model is generated to emulate real-world occlusion patterns, whereas compression is based on the well-established AVC/H.264 compression standard. The results demonstrate that the DNN performance are stable when increasing compression despite adding small amounts of noise. However, higher levels of occlusion noise have a higher impact on DNN performance, and when combined with compression, there is a significant decrease in the DNN performance.