Related papers: A Spatial Calibration Method for Robust Cooperativ…
Accurate and robust localization is critical for the safe operation of Connected and Automated Vehicles (CAVs), especially in complex urban environments where Global Navigation Satellite System (GNSS) signals are unreliable. This paper…
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…
Collaborative autonomous driving with multiple vehicles usually requires the data fusion from multiple modalities. To ensure effective fusion, the data from each individual modality shall maintain a reasonably high quality. However, in…
Sharing and joint processing of camera feeds and sensor measurements, known as Cooperative Perception (CP), has emerged as a new technique to achieve higher perception qualities. CP can enhance the safety of Autonomous Vehicles (AVs) where…
Collaborative perception enables agents to share complementary perceptual information with nearby agents. This would improve the perception performance and alleviate the issues of single-view perception, such as occlusion and sparsity. Most…
When a vehicle observes another one, the two vehicles' poses are correlated by this spatial relative observation, which can be used in cooperative localization for further increasing localization accuracy and precision. To use spatial…
In autonomous driving, recent research has increasingly focused on collaborative perception based on deep learning to overcome the limitations of individual perception systems. Although these methods achieve high accuracy, they rely on high…
Cooperative perception systems play a vital role in enhancing the safety and efficiency of vehicular autonomy. Although recent studies have highlighted the efficacy of vehicle-to-everything (V2X) communication techniques in autonomous…
Collaborative perception has garnered considerable attention due to its capacity to address several inherent challenges in single-agent perception, including occlusion and out-of-range issues. However, existing collaborative perception…
Collaborative 3D object detection exploits information exchange among multiple agents to enhance accuracy of object detection in presence of sensor impairments such as occlusion. However, in practice, pose estimation errors due to imperfect…
The idea of cooperative perception is to benefit from shared perception data between multiple vehicles and overcome the limitations of on-board sensors on single vehicle. However, the fusion of multi-vehicle information is still challenging…
Multi-agent collaborative perception could significantly upgrade the perception performance by enabling agents to share complementary information with each other through communication. It inevitably results in a fundamental trade-off…
In this paper, we present a framework for performing collaborative localization for groups of micro aerial vehicles (MAV) that use vision based sensing. The vehicles are each assumed to be equipped with a forward-facing monocular camera,…
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…
In this paper, we introduce the notion of Cooperative Perception Error Models (coPEMs) towards achieving an effective and efficient integration of V2X solutions within a virtual test environment. We focus our analysis on the occlusion…
Sensor-based perception on vehicles are becoming prevalent and important to enhance the road safety. Autonomous driving systems use cameras, LiDAR, and radar to detect surrounding objects, while human-driven vehicles use them to assist the…
Collaborative perception has the potential to significantly enhance perceptual accuracy through the sharing of complementary information among agents. However, real-world collaborative perception faces persistent challenges, particularly in…
High-accuracy absolute localization for a team of vehicles is essential when accomplishing various kinds of tasks. As a promising approach, collaborative localization fuses the individual motion measurements and the inter-vehicle…
The confluence of the advancement of Autonomous Vehicles (AVs) and the maturity of Vehicle-to-Everything (V2X) communication has enabled the capability of cooperative connected and automated vehicles (CAVs). Building on top of cooperative…
In the domain of intelligent transportation systems (ITS), collaborative perception has emerged as a promising approach to overcome the limitations of individual perception by enabling multiple agents to exchange information, thus enhancing…