Related papers: Infrastructure-Assisted Collaborative Perception i…
Collaborative perception (CP) enhances scene understanding through multi-agent information sharing. While LiDAR-centric systems offer precise geometry, high costs and performance degradation in adverse weather necessitate multi-modal…
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,…
Research on connected vehicles represents a continuously evolving technological domain, fostered by the emerging Internet of Things (IoT) paradigm and the recent advances in intelligent transportation systems. Nowadays, vehicles are…
Intelligent vehicular communication with vehicle road collaboration capability is a key technology enabled by 6G, and the integration of various visual sensors on vehicles and infrastructures plays a crucial role. Moreover, accurate channel…
Perception systems of autonomous vehicles are susceptible to occlusion, especially when examined from a vehicle-centric perspective. Such occlusion can lead to overlooked object detections, e.g., larger vehicles such as trucks or buses may…
Autonomous valet parking is a specific application for autonomous vehicles. In this task, vehicles need to navigate in narrow, crowded and GPS-denied parking lots. Accurate localization ability is of great importance. Traditional…
Accurate perception and scene understanding in complex urban environments is a critical challenge for ensuring safe and efficient autonomous navigation. In this paper, we present Co-Win, a novel bird's eye view (BEV) perception framework…
Bird's eye view (BEV) perception is becoming increasingly important in the field of autonomous driving. It uses multi-view camera data to learn a transformer model that directly projects the perception of the road environment onto the BEV…
This paper presents a comprehensive end-to-end evaluation of an infrastructure-assisted collective perception (ICP) system deployed on a highway using ITS-G5 technology. Open-road tests were conducted in the Bizkaia Connected Corridor…
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…
Autonomous driving scenes range from empty highways to dense intersections with dozens of interacting road users, yet current 3D detection models apply a fixed computation budget to every frame, wasting resources on simple scenes while…
Unmanned Aerial Vehicle (UAV) swarm systems necessitate efficient collaborative perception mechanisms for diverse operational scenarios. Current Bird's Eye View (BEV)-based approaches exhibit two main limitations: bounding-box…
Multi-uncrewed aerial vehicle (UAV) cooperative perception has emerged as a promising paradigm for diverse low-altitude economy applications, where complementary multi-view observations are leveraged to enhance perception performance via…
Sharing collective perception messages (CPM) between vehicles is investigated to decrease occlusions so as to improve the perception accuracy and safety of autonomous driving. However, highly accurate data sharing and low communication…
Collaborative perception enhances sensing in multirobot and vehicular networks by fusing information from multiple agents, improving perception accuracy and sensing range. However, mobility and non-rigid sensor mounts introduce extrinsic…
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…
By sharing information across multiple agents, collaborative perception helps autonomous vehicles mitigate occlusions and improve overall perception accuracy. While most previous work focus on vehicle-to-vehicle and…
This study explores the use of Visible Light Communication (VLC) in Collective Perception (CP), a technology that enables vehicles and infrastructure to share sensor information to help reduce traffic accidents. Recent advances in…
Learning powerful representations in bird's-eye-view (BEV) for perception tasks is trending and drawing extensive attention both from industry and academia. Conventional approaches for most autonomous driving algorithms perform detection,…
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…