Towards Safety-Aware Pedestrian Detection in Autonomous Systems

Maria Lyssenko,Christoph Gladisch,Christian Heinzemann,Matthias Woehrle,Rudolph Triebel,Maria Lyssenko,Christoph Gladisch,Christian Heinzemann,Matthias Woehrle,Rudolph Triebel

In this paper, we present a framework to assess the quality of a pedestrian detector in an autonomous driving scenario. To do this, we exploit performance metrics from the domain of computer vision on one side and so-called threat metrics from the motion planning domain on the other side. Based on a reachability analysis that accounts for the uncertainty in future motions of other traffic particip...