Multi-Sensor Fusion (MSF) based perception systems have been the foundation in supporting many industrial applications and domains, such as self-driving cars, robotic arms, and unmanned aerial vehicles. Over the past few years, the fast progress in datadriven artificial intelligence (AI) has brought a fast-increasing trend to empower MSF systems by deep learning techniques to further improve performance, especially on intelligent systems and their perception systems. Although quite a few AI-enabled MSF perception systems and techniques have been proposed, up to the present, limited benchmarks that focus on MSF perception are publicly available. Given that many intelligent systems such as self-driving cars are operated in safety-critical contexts where perception systems play an important role, there comes an urgent need for a more in-depth understanding of the performance and reliability of these MSF systems. To bridge this gap, we initiate an early step in this direction and construct a public benchmark of AI-enabled MSF-based perception systems including three commonly adopted tasks (i.e., object detection, object tracking, and depth completion). Based on this, to comprehensively understand MSF systems’ robustness and reliability, we design 14 common and realistic corruption patterns to synthesize large-scale corrupted datasets. We further perform a systematic evaluation of these systems through our large-scale evaluation and identify the following key findings: (1) existing AI-enabled MSF systems are not robust enough against corrupted sensor signals; (2) small synchronization and calibration errors can lead to a crash of AI-enabled MSF systems; (3) existing AI-enabled MSF systems are usually tightly-coupled in which bugs/errors from an individual sensor could result in a system crash; (4) the robustness of MSF systems can be enhanced by improving fusion mechanisms. Our results reveal the vulnerability of the current AI-enabled MSF perception systems, calling for researchers and practitioners to take robustness and reliability into account when designing AI-enabled MSF. Our benchmark, code, and detailed evaluation results are publicly available at https://sites.google.com/view/ai-msf-benchmark.

@inproceedings{GaoWF00X23,
  title = {Benchmarking Robustness of AI-Enabled Multi-sensor Fusion Systems: Challenges and Opportunities},
  author = {Xinyu Gao and Zhijie Wang and Yang Feng and Lei Ma and Zhenyu Chen and Baowen Xu},
  booktitle = {FSE},
  year = {2023},
  doi = {10.1145/3611643.3616278}
}