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Collaborative perception (CP) enables connected and autonomous vehicles to share sensor data and jointly reason about their environment. To defend against adversaries that fabricate or manipulate shared data, existing systems employ…
Cooperative Adaptive Cruise Control (CACC) is an autonomous vehicle-following technology that allows groups of vehicles on the highway to form in tightly-coupled platoons. This is accomplished by exchanging inter-vehicle data through…
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…
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…
Cooperative perception, or collective perception (CP) is an emerging and promising technology for intelligent transportation systems (ITS). It enables an ITS station (ITS-S) to share its local perception information with others by means of…
Comprehensive perception of the environment is crucial for the safe operation of autonomous vehicles. However, the perception capabilities of autonomous vehicles are limited due to occlusions, limited sensor ranges, or environmental…
Cooperative perception for connected and automated vehicles is traditionally achieved through the fusion of feature maps from two or more vehicles. However, the absence of feature maps shared from other vehicles can lead to a significant…
This paper explores the paradigm of Collaborative Perception (CP), where multiple robots and sensors in the environment share and integrate sensor data to construct a comprehensive representation of the surroundings. By aggregating data…
Perceiving the environment is one of the most fundamental keys to enabling Cooperative Driving Automation (CDA), which is regarded as the revolutionary solution to addressing the safety, mobility, and sustainability issues of contemporary…
Collaborative perception allows connected and autonomous vehicles (CAVs) to improve perception by sharing sensory data, but it also introduces security risks from manipulated inputs. Prior work shows that attackers can spoof or remove…
Perception serves as a critical component in the functionality of autonomous agents. However, the intricate relationship between perception metrics and robotic metrics remains unclear, leading to ambiguity in the development and fine-tuning…
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…
Cooperative perception (CP) offers significant potential to overcome the limitations of single-vehicle sensing by enabling information sharing among connected vehicles (CVs). However, existing generic CP approaches need to transmit large…
Autonomous vehicles may make wrong decisions due to inaccurate detection and recognition. Therefore, an intelligent vehicle can combine its own data with that of other vehicles to enhance perceptive ability, and thus improve detection…
Collaborative perception holds great promise for improving safety in autonomous driving, particularly in dense traffic where vehicles can share sensory information to overcome individual blind spots and extend awareness. However, deploying…
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…
Surrounding perceptions are quintessential for safe driving for connected and autonomous vehicles (CAVs), where the Bird's Eye View has been employed to accurately capture spatial relationships among vehicles. However, severe inherent…
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…
Collaborative Perception (CP) has been a promising solution to address occlusions in the traffic environment by sharing sensor data among collaborative vehicles (CoV) via vehicle-to-everything (V2X) network. With limited wireless bandwidth,…
Collaborative perception significantly enhances individual vehicle perception performance through the exchange of sensory information among agents. However, real-world deployment faces challenges due to bandwidth constraints and inevitable…