Data heterogeneity, characterization, and integration in the context of autonomous vehicles

Data is pervasive in autonomous vehicles and in this paper we provide a context to understand its nature, its characterization, and how it can be integrated into a complete autonomous vehicle system. The context is used to characterize data generated from the perception system and to discuss critical issues that arise in the development and implementation of complex autonomous systems such as those featuring the SAE levels 4 and 5 of vehicle driving automation.

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