Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Detecting Multi-Sensor Fusion Errors in Advanced Driver-Assistance
  Systems   Advanced Driver-Assistance Systems (ADAS) have been thriving and widely
deployed in recent years. In general, these systems receive sensor data,
compute driving decisions, and output control signals to the vehicles. To
smooth out the uncertainties brought by sensor inputs, they usually leverage
multi-sensor fusion (MSF) to fuse the sensor inputs and produce a more reliable
understanding of the surroundings. However, multi-sensor fusion cannot
completely eliminate the uncertainties since it lacks the knowledge about which
sensor provides the most accurate data and how to optimally integrate the data
provided by the sensors. As a result, critical consequences might happen
unexpectedly. In this work, we observed that the popular multi-sensor fusion
methods in an industry-grade ADAS can mislead the car control and result in
serious safety hazards. Misbehavior can happen regardless of the used fusion
methods and the accurate data from at least one sensor. We call such errors as
fusion errors and develop a novel evolutionary-based domain-specific search
framework, FusED, for the efficient detection of fusion errors. We further
apply causality analysis to show that the found fusion errors are indeed caused
by the multi-sensor fusion method. We evaluate our framework on two widely used
multi-sensor fusion methods in two driving environments. Experimental results
show that FusED identifies more than 150 fusion errors. Finally, we provide
several suggestions to improve the multi-sensor fusion methods we study.

18
The categories of this paper are: econ
22
The categories of this paper are: chao-dyn
8
The categories of this paper are: hep-ex
35
The categories of this paper are: mtrl-th
0
The categories of this paper are: hep-ph
28
The categories of this paper are: alg-geom
16
The categories of this paper are: stat
23
The categories of this paper are: solv-int
6
The categories of this paper are: astro-ph
36
The categories of this paper are: cmp-lg
27
The categories of this paper are: comp-gas
14
The categories of this paper are: math-ph
21
The categories of this paper are: adap-org
20
The categories of this paper are: acc-phys
2
The categories of this paper are: math
37
The categories of this paper are: supr-con