Related papers: Rethinking the Role of Infrastructure in Collabora…
With the advancement of collaborative perception, the role of aerial-ground collaborative perception, a crucial component, is becoming increasingly important. The demand for collaborative perception across different perspectives to…
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…
Engineered infrastructure systems pose inverse problems in which hidden states, unknown parameters, and subsystem couplings must be inferred from sparse and noisy measurements. These problems are difficult because physical subsystems are…
Perception is crucial for autonomous driving, but single-agent perception is often constrained by sensors' physical limitations, leading to degraded performance under severe occlusion, adverse weather conditions, and when detecting distant…
The ultimate navigation efficiency of mobile robots in human environments will depend on how we will appraise them: merely as impersonal machines or as human-like agents. In the latter case, an agent may take advantage of the cooperative…
To ensure safe operation of autonomous vehicles in complex urban environments, complete perception of the environment is necessary. However, due to environmental conditions, sensor limitations, and occlusions, this is not always possible…
Collaborative perception systems overcome single-vehicle limitations in long-range detection and occlusion scenarios by integrating multi-agent sensory data, improving accuracy and safety. However, frequent cooperative interactions and…
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…
Collaborative 3D object detection holds significant importance in the field of autonomous driving, as it greatly enhances the perception capabilities of each individual agent by facilitating information exchange among multiple agents.…
This paper addresses the task of joint multi-agent perception and planning, especially as it relates to the real-world challenge of collision-free navigation for connected self-driving vehicles. For this task, several communication-enabled…
Object perception plays a fundamental role in Cooperative Driving Automation (CDA) which is regarded as a revolutionary promoter for the next-generation transportation systems. However, the vehicle-based perception may suffer from 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…
In autonomous driving, cooperative perception makes use of multi-view cameras from both vehicles and infrastructure, providing a global vantage point with rich semantic context of road conditions beyond a single vehicle viewpoint.…
Infrastructure-based perception plays a crucial role in intelligent transportation systems, offering global situational awareness and enabling cooperative autonomy. However, existing camera-based detection models often underperform in such…
Autonomous vehicles are conceived to provide safe and secure services by validating the safety standards as indicated by SOTIF-ISO/PAS-21448 (Safety of the intended functionality). Keeping in this context, the perception of the environment…
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 embodied intelligence systems, a key component is 3D perception algorithm, which enables agents to understand their surrounding environments. Previous algorithms primarily rely on point cloud, which, despite offering precise geometric…
The growing interest in autonomous driving calls for realistic simulation platforms capable of accurately simulating cooperative perception process in realistic traffic scenarios. Existing studies for cooperative perception often have not…
Comprehensive environment perception is essential for autonomous vehicles to operate safely. It is crucial to detect both dynamic road users and static objects like traffic signs or lanes as these are required for safe motion planning.…
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…