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.