Related papers: Wireless Communication as an Information Sensor fo…
Perceiving the complex driving environment precisely is crucial to the safe operation of autonomous vehicles. With the tremendous advancement of deep learning and communication technology, Vehicle-to-Everything (V2X) collaboration has the…
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…
Collaborative perception improves 3D understanding by fusing multi-agent observations, yet intermediate-feature sharing faces strict bandwidth constraints as dense BEV features saturate V2X links. We observe that collaborators view the same…
Modern perception systems of autonomous vehicles are known to be sensitive to occlusions and lack the capability of long perceiving range. It has been one of the key bottlenecks that prevents Level 5 autonomy. Recent research has…
Sharing and joint processing of camera feeds and sensor measurements, known as Cooperative Perception (CP), has emerged as a new technique to achieve higher perception qualities. CP can enhance the safety of Autonomous Vehicles (AVs) where…
Risk quantification is a critical component of safe autonomous driving, however, constrained by the limited perception range and occlusion of single-vehicle systems in complex and dense scenarios. Vehicle-to-everything (V2X) paradigm has…
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…
Collaborative driving systems leverage vehicle-to-everything (V2X) communication for multi-agent collaborative perception to enhance driving safety, yet they remain constrained by scarce annotated real-world V2X driving datasets and limited…
Cooperative perception of connected vehicles comes to the rescue when the field of view restricts stand-alone intelligence. While raw-level cooperative perception preserves most information to guarantee accuracy, it is demanding in…
Semantic communication has been introduced into collaborative perception systems for autonomous driving, offering a promising approach to enhancing data transmission efficiency and robustness. Despite its potential, existing semantic…
Cooperative sensing and heterogeneous information fusion are critical to realize vehicular cyber-physical systems (VCPSs). This paper makes the first attempt to quantitatively measure the quality of VCPS by designing a new metric called Age…
Cooperative perception allows connected vehicles and roadside infrastructure to share sensor observations, creating a fused scene representation beyond the capability of any single platform. However, most cooperative 3D object detectors use…
Collaborative 3D detection can substantially boost detection performance by allowing agents to exchange complementary information. It inherently results in a fundamental trade-off between detection performance and communication bandwidth.…
Accurately perceiving complex driving environments is essential for ensuring the safe operation of autonomous vehicles. With the tremendous progress in deep learning and communication technologies, cooperative perception with…
Autonomous vehicles use 3D sensors for perception. Cooperative perception enables vehicles to share sensor readings with each other to improve safety. Prior work in cooperative perception scales poorly even with infrastructure support.…
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…
As self-driving cars increasingly penetrate our daily lives, vehicle-to-everything (V2X) communications are emerging as one of the key enabler technologies. However, the dynamicity of vehicles (one of whose causes is the mobility of…
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,…
The effectiveness of autonomous vehicles relies on reliable perception capabilities. Despite significant advancements in artificial intelligence and sensor fusion technologies, current single-vehicle perception systems continue to encounter…
The emergence of 6G wireless networks promises to revolutionize vehicular communications by enabling ultra-reliable, low-latency, and high-capacity data exchange. In this context, collaborative perception techniques, where multiple vehicles…