Related papers: Semantic Communication for Cooperative Perception …
Vehicle-to-everything (V2X) autonomous driving opens up a promising direction for developing a new generation of intelligent transportation systems. Collaborative perception (CP) as an essential component to achieve V2X can overcome the…
Current autonomous driving vehicles rely mainly on their individual sensors to understand surrounding scenes and plan for future trajectories, which can be unreliable when the sensors are malfunctioning or occluded. To address this problem,…
Environmental perception in Automated Valet Parking (AVP) has been a challenging task due to severe occlusions in parking garages. Although Collaborative Perception (CP) can be applied to broaden the field of view of connected vehicles, the…
With cooperative perception, autonomous vehicles can wirelessly share sensor data and representations to overcome sensor occlusions, improving situational awareness. Securing such data exchanges is crucial for connected autonomous vehicles.…
In this paper, we explore the use of vehicle-to-vehicle (V2V) communication to improve the perception and motion forecasting performance of self-driving vehicles. By intelligently aggregating the information received from multiple nearby…
In vehicular scenarios context awareness is a key enabler for road safety. However, the amount of contextual information that can be collected by a vehicle is stringently limited by the sensor technology itself (e.g., line-of-sight,…
To reduce the amount of transmitted data, feature map based fusion is recently proposed as a practical solution to cooperative 3D object detection by autonomous vehicles. The precision of object detection, however, may require significant…
In recent years, autonomous driving has garnered significant attention due to its potential for improving road safety through collaborative perception among connected and autonomous vehicles (CAVs). However, time-varying channel variations…
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 perception allows real-time inter-agent information exchange and thus offers invaluable opportunities to enhance the perception capabilities of individual agents. However, limited communication bandwidth in practical scenarios…
Perception is one of the crucial module of the autonomous driving system, which has made great progress recently. However, limited ability of individual vehicles results in the bottleneck of improvement of the perception performance. To…
Vehicle-to-Vehicle technologies have enabled autonomous vehicles to share information to see through occlusions, greatly enhancing perception performance. Nevertheless, existing works all focused on homogeneous traffic where vehicles are…
Cooperative perception enhances the individual perception capabilities of autonomous vehicles (AVs) by providing a comprehensive view of the environment. However, balancing perception performance and transmission costs remains a significant…
Cooperative perception is a promising technique for intelligent and connected vehicles through vehicle-to-everything (V2X) cooperation, provided that accurate pose information and relative pose transforms are available. Nevertheless,…
Task-oriented semantic communication is an emerging technology that transmits only the relevant semantics of a message instead of the whole message to achieve a specific task. It reduces latency, compresses the data, and is more robust in…
Timely and reliable environment perception is fundamental to safe and efficient automated driving. However, the perception of standalone intelligence inevitably suffers from occlusions. A new paradigm, Cooperative Perception (CP), comes to…
The design of communication systems has traditionally focused on the reliable and timely delivery of data. However, the scalability challenges faced by the evolution to a 6G-driven society demand new communication paradigms that carefully…
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 perception allows agents to enhance their perceptual capabilities by exchanging intermediate features. Existing methods typically organize these intermediate features as 2D bird's-eye-view (BEV) representations, which discard…
Infrastructure sensors installed at elevated positions offer a broader perception range and encounter fewer occlusions. Integrating both infrastructure and ego-vehicle data through V2X communication, known as vehicle-infrastructure…