Fig. 6
From: Area-wide real-world test scenarios of poor visibility for safe development of automated vehicles
Example of a fatal pedestrian accident in Saxony: Challenge of human and machine perception of a pedestrian. Left side: Pedestrian is visible in the light beam and closer than the oncoming vehicle. Right side: Pedestrian is invisible out of the light beam for human perception when distance is greater than oncoming vehicle lights (upper images: driving scene with human perception, center images: overlay human with machine perception. Radar in blue with Lidar in yellow, camera detection in red and green. Lower images: driving scene with machine perception and interpretation)