arXiv subjects

Zijian Han

Publications and source records attributed to Zijian Han.

3 recordsLinked to original sources

arXiv2026

A Causal Probabilistic Framework for Perception-Informed Closed-Loop Simulation of Autonomous Driving

Software-in-the-loop (SIL) simulation is a cornerstone for the validation of modern automotive safety functions. However, many current frameworks utilize ideal sensing, which bypasses the functional insufficiencies of perception algorithms, leading to over-optimistic safety assessments. This paper proposes a perception-informed SIL testing methodology that bridges the gap between ground-truth simulation and real-world perception behavior. We present a framework for incorporating causal probabilistic models into standardized, scenario-based simulation toolchains, applicable to both Advanced Driver Assistance Systems (ADAS) and Autonomous Driving Systems (ADS). Our approach enables the systematic injection of realistic perception errors, such as loss of detection, sizing inaccuracies, and positioning offsets, derived from physical triggering conditions like fog, rain, and object-merging scenarios. By evaluating these ``faults'' within a standardized simulation environment, we demonstrate that perception-informed testing reveals latent operational risks that ideal SIL environments fail to capture, providing a scalable pathway for SOTIF (ISO 21448) validation.

cs.RO↗

arXiv2026

From Concept to Capability: Evaluating 3D Gaussian Splatting for Synthetic Scene Editing in Autonomous Driving

The perception of an Autonomous Driving System (ADS) critically depends on relevant, comprehensive, and diverse datasets to ensure its safety while operating in the environment. Field data collection lacks completeness with respect to the list of rare but still possible safety-related scenarios needed for the development, verification, and validation of the ADS. 3D Gaussian Splatting (3DGS) has shown promising capabilities for the reconstruction and editing of scenes based on data collected by cameras and LiDAR sensors. However, the industrial fidelity evaluation of reconstructions is underexplored, which is crucial when employing such methods in safety-related systems, especially for ADS. This becomes more challenging as ADS operates in a dynamic, uncontrolled environment with limited viewpoints and often partially occluded objects. This paper addresses this gap by proposing and implementing a framework (Fig. 1) to systematically analyze the capabilities and limitations of 3DGS for use in the reconstruction of safety-related scenes. It focuses on the quality of reconstruction for vehicles and pedestrians, which are the two most critical object classes for ADS. Our findings provide industry insights into the fidelity degradation of reconstructions from multiple novel viewpoints, both lateral and longitudinal, enabling the integration of these methods into real-world industrial AD software development and testing pipelines.

cs.CV↗

arXiv2022

Antarctic Survey Telescope 3-3: Overview, System Performance and Preliminary Observations at Yaoan, Yunnan

The third Antarctic Survey Telescope array instrument at Dome A in Antarctica, the AST3-3 telescope, has been in commissioning from March 2021. We deployed AST3-3 at the Yaoan astronomical station in Yunnan Province for an automatic time-domain survey and follow-up observations with an optimised observation and protection system. The telescope system of AST3-3 is similar to that of AST3-1 and AST3-2, except that it is equipped with a 14K~$ \times$~10K QHY411 CMOS camera. AST3-3 has a field of view of $1.65^\circ \times 1.23^\circ$ and is currently using the $g$ band filter. During commissioning at Yaoan, AST3-3 aims to conduct an extragalactic transient survey, coupled with prompt follow-ups of opportunity targets. In this paper, we present the architecture of the AST3-3 automatic observation system. We demonstrate the data processing of observations by representatives SN 2022eyw and GRB 210420B.

astro-ph.IM↗