MultiTest: Physical-Aware Object Insertion for Testing Multi-sensor Fusion Perception Systems

Multi-sensor fusion stands as a pivotal technique in addressing numerous safety-critical tasks and applications, e.g., self-driving cars and automated robotic arms. With the continuous advancement in data-driven artificial intelligence (AI), MSF's potential for sensing and understanding intricate external environments has been further amplified, bringing a profound impact on intelligent systems and specifically on their perception systems. Similar to traditional software, adequate testing is also required for AI-enabled MSF systems. Yet, existing testing methods primarily concentrate on single-sensor perception systems (e.g., image-based and point cloud-based object detection systems). There remains a lack of emphasis on generating multi-modal test cases for MSF systems.