Related papers: Self-Localized 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…
A consistent spatial-temporal coordination across multiple agents is fundamental for collaborative perception, which seeks to improve perception abilities through information exchange among agents. To achieve this spatial-temporal…
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…
Collaborative perception aims to extend sensing coverage and improve perception accuracy by sharing information among multiple agents. However, due to differences in viewpoints and spatial positions, agents often acquire heterogeneous…
Collaborative perception can substantially boost each agent's perception ability by facilitating communication among multiple agents. However, temporal asynchrony among agents is inevitable in the real world due to communication delays,…
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,…
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…
Collaborative perception has recently shown great potential to improve perception capabilities over single-agent perception. Existing collaborative perception methods usually consider an ideal communication environment. However, in…
Collaborative perception improves task performance by expanding the perception range through information sharing among agents. . Immutable heterogeneity poses a significant challenge in collaborative perception, as participating agents may…
One of the most essential prerequisites behind a successful task execution of a team of agents is to accurately estimate and track their poses. We consider a cooperative multi-agent positioning problem where each agent performs single-agent…
Bird's eye view (BEV) semantic segmentation plays a crucial role in spatial sensing for autonomous driving. Although recent literature has made significant progress on BEV map understanding, they are all based on single-agent camera-based…
Collaborative perception aims to mitigate the limitations of single-agent perception, such as occlusions, by facilitating data exchange among multiple agents. However, most current works consider a homogeneous scenario where all agents use…
Multi-agent collaborative perception as a potential application for vehicle-to-everything communication could significantly improve the perception performance of autonomous vehicles over single-agent perception. However, several challenges…
Collaborative perception shares information among different agents and helps solving problems that individual agents may face, e.g., occlusions and small sensing range. Prior methods usually separate the multi-agent fusion and multi-time…
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…
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…
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 can increase the view field and decrease the occlusion of an ego vehicle, hence improving the perception performance and safety of autonomous driving. Despite the success of previous works on cooperative object…
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…
Autonomous driving relies on accurate perception to ensure safe driving. Collaborative perception improves accuracy by mitigating the sensing limitations of individual vehicles, such as limited perception range and occlusion-induced blind…