Autonomous driving vehicles rely on sensors for the robust perception of their surroundings. Such vehicles are equipped with multiple perceptive sensors with a high level of redundancy to ensure safety and reliability in any driving condition. However, multi-sensor, such as camera, LiDAR, and radar systems raise requirements related to sensor calibration and synchronization, which are the fundamental blocks of any autonomous system. On the other hand, sensor fusion and integration have become important aspects of autonomous driving research and directly determine the efficiency and accuracy of advanced functions such as object detection and path planning. Classical model-based estimation and data-driven models are two mainstream approaches to achieving such integration. Most recent research is shifting to the latter, showing high robustness in real-world applications but requiring large quantities of data to be collected, synchronized, and properly categorized. However, there are two major research gaps in existing works: (i) they lack fusion (and synchronization) of multi-sensors, camera, LiDAR and radar; and (ii) generic scalable, and user-friendly end-to-end implementation. To generalize the implementation of the multi-sensor perceptive system, we introduce an end-to-end generic sensor dataset collection framework that includes both hardware deploying solutions and sensor fusion algorithms. The framework prototype integrates a diverse set of sensors, such as camera, LiDAR, and radar. Furthermore, we present a universal toolbox to calibrate and synchronize three types of sensors based on their characteristics. The framework also includes the fusion algorithms, which utilize the merits of three sensors, namely, camera, LiDAR, and radar, and fuse their sensory information in a manner that is helpful for object detection and tracking research. The generality of this framework makes it applicable in any robotic or autonomous applications and suitable for quick and large-scale practical deployment.

Object segmentation is still considered a challenging problem in autonomous driving, particularly in consideration of real-world conditions. Following this line of research, this paper approaches the problem of object segmentation using LiDAR–camera fusion and semi-supervised learning implemented in a fully convolutional neural network. Our method was tested on real-world data acquired using our custom vehicle iseAuto shuttle. The data include all weather scenarios, featuring night and rainy weather. In this work, it is shown that with LiDAR–camera fusion, with only a few annotated scenarios and semi-supervised learning, it is possible to achieve robust performance on real-world data in a multi-class object segmentation problem. The performance of our algorithm was measured in terms of intersection over union, precision, recall, and area-under-the-curve average precision. Our network achieves 82% IoU in vehicle detection in day fair scenarios and 64% IoU in vehicle segmentation in night rain scenarios.

Identifying and anticipating potential failures in the cloud is an effective method for increasing cloud reliability and proactive failure management. Many studies have been conducted to predict potential failure, but none have combined SMART (self-monitoring, analysis, and reporting technology) hard drive metrics with other system metrics, such as central processing unit (CPU) utilisation. Therefore, we propose a combined system metrics approach for failure prediction based on artificial intelligence to improve reliability. We tested over 100 cloud servers’ data and four artificial intelligence algorithms: random forest, gradient boosting, long short-term memory, and gated recurrent unit, and also performed correlation analysis. Our correlation analysis sheds light on the relationships that exist between system metrics and failure, and the experimental results demonstrate the advantages of combining system metrics, outperforming the state-of-the-art.

Autonomous driving vehicles rely on sensors for the robust perception of surroundings. Such vehicles are equipped with multiple perceptive sensors with a high level of redundancy to ensure safety and reliability in any driving condition. However, multi-sensor, such as camera, LiDAR and radar, systems bring up the requirements related to sensor calibration and synchronization, which are the fundamental blocks of any autonomous system. On the other hand, sensor fusion and integration have become important aspects of autonomous driving research and directly determine the efficiency and accuracy of advanced functions such as object detection and path planning. Classical model-based estimation and data-driven models are two mainstream approaches to achieving such integration. Most recent research is shifting to the latter, showing high robustness in real-world applications but requiring large quantities of data to be collected, synchronized, and properly categorized. To generalize the implementation of the multi-sensor perceptive system, we introduce an end-to-end generic sensor dataset collection framework that includes both hardware deploying solutions and sensor fusion algorithms. The framework prototype integrates a diverse set of sensors, such as cameras, LiDAR, and radar. Furthermore, we present a universal toolbox to calibrate and synchronize three types of sensors based on their characteristics. The framework also includes the fusion algorithms, which utilize the merits of three sensors , namely, camera, LiDAR and radar, and fuse their sensory information in a manner that is helpful for object detection and tracking research. The generality of this framework makes it applicable in any robotic or autonomous applications, also suitable for quick and large-scale practical deployment.

Kalman filter is a well-established accuracy correction method in control, guidance, and navigation. With the popularity of mobile communication and ICT, Kalman Filter has been used in many new applications related to positioning based on spatiotemporal data from the cellular network. Despite the low accuracy compared to Global Positioning System, the method is an excellent supplement to other positioning technologies. It is often used in sensor fusion setups as a complementary source. One of the reasons for the Kalman Filter’s inaccuracy lies in naive radio coverage approximation techniques based on multivariate normal distributions assumed by previous studies. Therefore, in this paper, we evaluated those disadvantages and proposed a Gaussian mixtures model to address the non-arbitrary shape of the radio cells’ coverage area. Having incorporated the Gaussian mixtures model into Switching Kalman Filter, we achieved better accuracy in positioning within the cellular network.

Object segmentation is still considered a challenging problem in autonomous driving, particularly in consideration of real world conditions. Following this line of research, this paper approaches the problem of object segmentation using LiDAR-camera fusion and semi-supervised learning implemented in a fully-convolutional neural network. Our method is tested on real-world data acquired using our custom vehicle iseAuto shuttle. The data include all-weather scenarios, featuring night and rainy weather. In this work, it is shown that LiDAR-camera fusion with only a few annotated scenarios and semi-supervised learning, it is possible to achieve robust performance on real-world data in a multi-class object segmentation problem. The performance of our algorithm is measured in terms of intersection over union, precision, recall and area-under-the-curve average precision. Our network achieves 82% IoU in vehicle detection in day fair scenarios and 64% IoU in vehicle segmentation in night rain scenarios.