Sanjay Kumar

Sanjay Kumar, Hiep Truong, Sushil Sharma et al.

Autonomous driving technology is rapidly evolving, offering the potential for safer and more efficient transportation. However, the performance of these systems can be significantly compromised by the occlusion on sensors due to environmental factors like dirt, dust, rain, and fog. These occlusions severely affect vision-based tasks such as object detection, vehicle segmentation, and lane recognition. In this paper, we investigate the impact of various kinds of occlusions on camera sensor by projecting their effects from multi-view camera images of the nuScenes dataset into the Bird's-Eye View (BEV) domain. This approach allows us to analyze how occlusions spatially distribute and influence vehicle segmentation accuracy within the BEV domain. Despite significant advances in sensor technology and multi-sensor fusion, a gap remains in the existing literature regarding the specific effects of camera occlusions on BEV-based perception systems. To address this gap, we use a multi-sensor fusion technique that integrates LiDAR and radar sensor data to mitigate the performance degradation caused by occluded cameras. Our findings demonstrate that this approach significantly enhances the accuracy and robustness of vehicle segmentation tasks, leading to more reliable autonomous driving systems.

Sanjay Kumar, Tim Brophy, Reenu Mohandas et al.

Robust perception in automated driving requires reliable performance under adverse conditions, where sensors may be affected by partial failures or environmental occlusions. Although existing autonomous driving datasets inherently contain sensor noise and environmental variability, very few enable controlled, parameterised, and reproducible degradations across multiple sensing modalities. This gap limits the ability to systematically evaluate how perception and fusion architectures perform under well-defined adverse conditions. To address this limitation, we introduce the Occluded nuScenes Dataset, a novel extension of the widely used nuScenes benchmark. For the camera modality, we release both the full and mini versions with four types of occlusions, two adapted from public implementations and two newly designed. For radar and LiDAR, we provide parameterised occlusion scripts that implement three types of degradations each, enabling flexible and repeatable generation of occluded data. This resource supports consistent, reproducible evaluation of perception models under partial sensor failures and environmental interference. By releasing the first multi-sensor occlusion dataset with controlled and reproducible degradations, we aim to advance research on robust sensor fusion, resilience analysis, and safety-critical perception in automated driving.

Anju Mishra, Shanu Sharma, Sanjay Kumar et al.

Brain computer interface is the current area of research to provide assistance to disabled persons. To cope up with the growing needs of BCI applications, this paper presents an automated classification scheme for handgrip actions on objects by using Electroencephalography (EEG) data. The presented approach focuses on investigation of classifying correct and incorrect handgrip responses for objects by using EEG recorded patterns. The method starts with preprocessing of data, followed by extraction of relevant features from the epoch data in the form of discrete wavelet transform (DWT), and entropy measures. After computing feature vectors, artificial neural network classifiers used to classify the patterns into correct and incorrect handgrips on different objects. The proposed method was tested on real dataset, which contains EEG recordings from 14 persons. The results showed that the proposed approach is effective and may be useful to develop a variety of BCI based devices to control hand movements.