System and method for evaluating the perception system of an autonomous vehicle

摘要

A method and apparatus are provided for optimizing one or more object detection parameters used by an autonomous vehicle to detect objects in images. The autonomous vehicle may capture the images using one or more sensors. The autonomous vehicle may then determine object labels and their corresponding object label parameters for the detected objects. The captured images and the object label parameters may be communicated to an object identification server. The object identification server may request that one or more reviewers identify objects in the captured images. The object identification server may then compare the identification of objects by reviewers with the identification of objects by the autonomous vehicle. Depending on the results of the comparison, the object identification server may recommend or perform the optimization of one or more of the object detection parameters.

主权项

1. An apparatus for optimizing object detection performed by an autonomous vehicle, the apparatus comprising:
a memory; and a processor in communication with the memory, the processor operative to:
receive a first plurality of images captured by an autonomous vehicle, wherein a first image in the first plurality of images includes at least one applied object label applied by the autonomous vehicle;display the first image from the first plurality of images, wherein the first image comprises at least one object;receive an object label for the at least one object displayed in the first image to obtain a received object label in a first image in a second plurality of images, wherein the second plurality of images corresponds to the first plurality of images;compare the at least one received object label with at least one object label applied by the autonomous vehicle to the object in the first image in the first plurality of images;determine whether the at least one received object label corresponds to the at least one object label applied by the autonomous vehicle,compare a number of object labels applied by the autonomous vehicle in the first image in the first plurality of images with a number of object labels received in the first image in the second plurality of images;determining whether the autonomous vehicle missed a predetermined number of the object labels in the first image in the first plurality of images based on the comparison of the number of object labels applied by the autonomous vehicle in the first image in the first plurality of images and the number of object labels received in the first image in the second plurality of images; andoptimize a plurality of object detection parameters of at least one of a plurality of sensors when an indication of a correspondence between the received object label and the object label applied by the autonomous vehicle is below a predetermined threshold and the autonomous vehicle missed the predetermined number of the object labels in the first image of the first plurality of images;wherein the object label applied by the autonomous vehicle is defined by at least one object label parameter that corresponds to a type of sensor that captured the first image.