SimBusters: Bridging Simulation Gaps in Intelligent Vehicles Perception

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dc.contributor.authorJusto, Alberto
dc.contributor.authorAraluce, Javier
dc.contributor.authorRomera, Javier
dc.contributor.authorRodriguez-Arozamena, Mario
dc.contributor.authorGonzález, Leonardo
dc.contributor.authorDíaz, Sergio
dc.contributor.institutionCCAM
dc.date.accessioned2024-09-06T09:25:04Z
dc.date.available2024-09-06T09:25:04Z
dc.date.issued2024
dc.descriptionPublisher Copyright: © 2024 IEEE.
dc.description.abstractRecent advances in automated vehicle technology rely heavily on simulated environments for training and testing. However, a significant challenge lies in bridging the gap between simulated and real-world scenarios, as discrepancies between these environments can affect the performance and reliability after that transition, especially in perception. Particularly, LiDAR sensors are highly affected in this matter due to disparities in pointcloud distribution and intensity. Therefore, this paper presents an innovative approach to bridge the gap between simulation and reality. For it, we test and validate a realistic LiDAR library, PCSim, within the CARLA simulator, providing an enhanced simulation environment. Our method involves integrating perception models, pre-trained on real-world datasets, in this environment. Then, we develop a Real2Sim domain adaptation method to transfer these models into the library, leveraging their performance. Finally, we evaluate the 3D object detection models in PCSim LiDARs to prove our methodology.We have assessed this proposal in PCSim, obtaining promising results in mitigating the simulation-reality gap. Our evaluations provide a guidance for future effective transition from virtual environments to real-world applications.en
dc.description.statusPeer reviewed
dc.format.extent6
dc.identifier.citationJusto , A , Araluce , J , Romera , J , Rodriguez-Arozamena , M , González , L & Díaz , S 2024 , SimBusters : Bridging Simulation Gaps in Intelligent Vehicles Perception . in 35th IEEE Intelligent Vehicles Symposium, IV 2024 . IEEE Intelligent Vehicles Symposium, Proceedings , Institute of Electrical and Electronics Engineers Inc. , pp. 2471-2476 , 35th IEEE Intelligent Vehicles Symposium, IV 2024 , Jeju Island , Korea, Republic of , 2/06/24 . https://doi.org/10.1109/IV55156.2024.10588580
dc.identifier.citationconference
dc.identifier.doi10.1109/IV55156.2024.10588580
dc.identifier.isbn9798350348811
dc.identifier.issn1931-0587
dc.identifier.urihttps://hdl.handle.net/11556/4828
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=85199806738&partnerID=8YFLogxK
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics Engineers Inc.
dc.relation.ispartof35th IEEE Intelligent Vehicles Symposium, IV 2024
dc.relation.ispartofseriesIEEE Intelligent Vehicles Symposium, Proceedings
dc.rightsinfo:eu-repo/semantics/restrictedAccess
dc.subject.keywordsComputer Science Applications
dc.subject.keywordsAutomotive Engineering
dc.subject.keywordsModeling and Simulation
dc.titleSimBusters: Bridging Simulation Gaps in Intelligent Vehicles Perceptionen
dc.typeconference output
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