Perception systems operate as a subcomponent of the general autonomy stack, and perception system designers often need to optimize performance characteristics while maintaining safety with respect to the overall closed-loop system. For this reason, it is useful to distill high-level safety requirements into component-level requirements on the perception system. In this work, we focus on efficiently determining sets of safe perception system performance characteristics given a black-box simulator of the fully-integrated, closed-loop system. We combine the advantages of common black-box estimation techniques such as Gaussian processes and threshold bandits to develop a new estimation method, which we call smoothing bandits. We demonstrate our method on a vision-based aircraft collision avoidance problem and show improvements in terms of both accuracy and efficiency over the Gaussian process and threshold bandit baselines.


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    Title :

    Efficient Determination of Safety Requirements for Perception Systems


    Contributors:


    Publication date :

    2023-10-01


    Size :

    1764737 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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