Related papers: Cooperative Infrastructure Perception
Infrastructure sensing systems in combination with Infrastructure-to-Vehicle communication can be used to enhance sensor data obtained from the perspective of a vehicle, only. This paper presents a system consisting of a radar sensor…
3D occupancy perception technology aims to observe and understand dense 3D environments for autonomous vehicles. Owing to its comprehensive perception capability, this technology is emerging as a trend in autonomous driving perception…
Achieving fully autonomous driving with enhanced safety and efficiency relies on vehicle-to-everything cooperative perception, which enables vehicles to share perception data, thereby enhancing situational awareness and overcoming the…
This paper presents a novel real-time, delay-aware cooperative perception system designed for intelligent mobility platforms operating in dynamic indoor environments. The system contains a network of multi-modal sensor nodes and a central…
Perception of the driving environment is critical for collision avoidance and route planning to ensure driving safety. Cooperative perception has been widely studied as an effective approach to addressing the shortcomings of single-vehicle…
This paper proposes a lightweight systematic solution for multi-robot coordinated navigation with decentralized cooperative perception. An information flow is first created to facilitate real-time observation sharing over unreliable ad-hoc…
Cooperative perception is critical for autonomous driving, overcoming the inherent limitations of a single vehicle, such as occlusions and constrained fields-of-view. However, current approaches sharing dense Bird's-Eye-View (BEV) features…
Freight vehicles approaching signalized intersections require reliable detection and motion estimation to support infrastructure-based Freight Signal Priority (FSP). Accurate and timely perception of vehicle type, position, and speed is…
Collaborative Perception (CP) has been a promising solution to address occlusions in the traffic environment by sharing sensor data among collaborative vehicles (CoV) via vehicle-to-everything (V2X) network. With limited wireless bandwidth,…
Onboard intelligent processing is widely applied in emergency tasks in the field of remote sensing. However, it is predominantly confined to an individual platform with a limited observation range as well as susceptibility to interference,…
The trend for Urban Air Mobility (UAM) is growing with prospective air taxis, parcel deliverers, and medical and industrial services. Safe and efficient UAM operation relies on timely communication and reliable data exchange. In this paper,…
Perception of other road users is a crucial task for intelligent vehicles. Perception systems can use on-board sensors only or be in cooperation with other vehicles or with roadside units. In any case, the performance of perception systems…
The growing number of road users has significantly increased the risk of accidents in recent years. Vulnerable Road Users (VRUs) are particularly at risk, especially in urban environments where they are often occluded by parked vehicles or…
Occlusion is a major challenge for LiDAR-based object detection methods. This challenge becomes safety-critical in urban traffic where the ego vehicle must have reliable object detection to avoid collision while its field of view is…
Cooperative perception is challenging for safety-critical autonomous driving applications.The errors in the shared position and pose cause an inaccurate relative transform estimation and disrupt the robust mapping of the Ego vehicle. We…
Perception plays a central role in connected and autonomous vehicles (CAVs), underpinning not only conventional modular driving stacks, but also cooperative perception systems and recent end-to-end driving models. While deep learning has…
The reliability of current autonomous driving systems is often jeopardized in situations when the vehicle's field-of-view is limited by nearby occluding objects. To mitigate this problem, vehicle-to-vehicle communication to share sensor…
Cooperative perception extends the perception capabilities of autonomous vehicles by enabling multi-agent information sharing via Vehicle-to-Everything (V2X) communication. Unlike traditional onboard sensors, V2X acts as a dynamic…
The safe operation of automated vehicles depends on their ability to perceive the environment comprehensively. However, occlusion, sensor range, and environmental factors limit their perception capabilities. To overcome these limitations,…
There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…