Monitoring of Perception Systems: Deterministic, Probabilistic, and Learning-based Fault Detection and Identification

Understand

This paper investigates runtime monitoring of perception systems.

• Perception is a critical component of high-integrity applications of robotics and autonomous systems, such as self-driving cars.
• In these applications, failure of perception systems may put human life at risk, and a broad adoption of these technologies requires the development of methodologies to guarantee and monitor safe operation.
• Despite the paramount importance of perception, currently there is no formal approach for system-level perception monitoring.