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The Sensing Challenge

Perception of a comprehensive Environmental Model breaks down into four main challenges:

  • Freespace: determining the drivable area and its delimiters
  • Driving Paths: the geometry of the routes within the drivable area
  • Moving Objects: all road users within the drivable area or path
  • Scene Semantics: the vast vocabulary of visual cues (explicit and implicit) such as traffic lights and their color, traffic signs, turn indicators, pedestrian gaze direction, on-road markings, etc.