Related papers: Cooperative Infrastructure Perception
To enlarge the perception range and reliability of individual autonomous vehicles, cooperative perception has been received much attention. However, considering the high volume of shared messages, limited bandwidth and computation resources…
Collaborative 3D detection can substantially boost detection performance by allowing agents to exchange complementary information. It inherently results in a fundamental trade-off between detection performance and communication bandwidth.…
Recent approaches in robotics follow the insight that perception is facilitated by interaction with the environment. These approaches are subsumed under the term of Interactive Perception (IP). It provides the following benefits: (i)…
Single camera 3D perception for traffic monitoring faces significant challenges due to occlusion and limited field of view. Moreover, fusing information from multiple cameras at the image feature level is difficult because of different view…
This survey analyzes intermediate fusion methods in collaborative perception for autonomous driving, categorized by real-world challenges. We examine various methods, detailing their features and the evaluation metrics they employ. The…
Large scale monitoring systems enable efficient field level data collection at high temporal and spatial resolutions. One example is the deployment of such systems in pipeline infrastructure applications which have to be monitored for leaks…
Cooperative overtaking is believed to have the capability of improving road safety and traffic efficiency by means of the real-time information exchange between traffic participants, including road infrastructures, nearby vehicles and…
This paper explores the use of 3D lidar in a physical Human-Robot Interaction (pHRI) scenario. To achieve the aforementioned, experiments were conducted to mimic a modern shop-floor environment. Data was collected from a pool of seventeen…
Real-time perception and motion planning are two crucial tasks for autonomous driving. While there are many research works focused on improving the performance of perception and motion planning individually, it is still not clear how a…
As a pivotal technology for autonomous driving, collaborative perception enables vehicular agents to exchange perceptual data through vehicle-to-everything (V2X) communications, thereby enhancing perception accuracy of all collaborators.…
Anomaly detection is a critical requirement for ensuring safety in autonomous driving. In this work, we leverage Cooperative Perception to share information across nearby vehicles, enabling more accurate identification and consensus of…
Camera-only 3D detection provides an economical solution with a simple configuration for localizing objects in 3D space compared to LiDAR-based detection systems. However, a major challenge lies in precise depth estimation due to the lack…
Automated culvert inspection systems can help increase the safety and efficiency of flood management operations. As a key step to this system, we present an efficient RGB-based 3D reconstruction pipeline for culvert-like structures in…
In autonomous driving, Vehicle-Infrastructure Cooperative 3D Object Detection (VIC3D) makes use of multi-view cameras from both vehicles and traffic infrastructure, providing a global vantage point with rich semantic context of road…
Cooperative perception can significantly improve the perception performance of autonomous vehicles beyond the limited perception ability of individual vehicles by exchanging information with neighbor agents through V2X communication.…
Urban intersections, dense with pedestrian and vehicular traffic and compounded by GPS signal obstructions from high-rise buildings, are among the most challenging areas in urban traffic systems. Traditional single-vehicle intelligence…
Collaborative perception (CP) leverages visual data from connected and autonomous vehicles (CAV) to enhance an ego vehicle's field of view (FoV). Despite recent progress, current CP methods expand the ego vehicle's 360-degree perceptual…
This work aims to address the challenges in autonomous driving by focusing on the 3D perception of the environment using roadside LiDARs. We design a 3D object detection model that can detect traffic participants in roadside LiDARs in…
An automated vehicle operating in an urban environment must be able to perceive and recognise object/obstacles in a three-dimensional world while navigating in a constantly changing environment. In order to plan and execute accurate…
Autonomous vehicles are heavily reliant upon their sensors to perfect the perception of surrounding environments, however, with the current state of technology, the data which a vehicle uses is confined to that from its own sensors. Data…