The Autonomous Driving survey paper (https://arxiv.org/pdf/2002.00444.pdf) demonstrates the above pipeline from sensor stream to control actuation.
The sensor architecture includes multiple sets of cameras, radars and LIDARs as well as a GPS-GNSS system for absolute localization and Inertial Measurement Units (IMUs) that provide 3D pose of the vehicle in space.
The goal of the perception module is the creation of an intermediate level representation of the environment state that is be later utilized by a decision making system that produces the driving policy.
This state would include lane position, drivable zone, location of agents such as cars, pedestrians, state of traffic lights and others.
Several perception tasks like semantic segmentation, motion estimation, depth estimation, soiling detection, etc which can be unified into a multi-task model.
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