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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…
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…
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…
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…
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…
Collaborative Perception (CP) has been shown to be a promising technique for multi-agent autonomous driving and multi-agent robotic systems, where multiple agents share their perception information to enhance the overall perception…
Connected Autonomous Vehicles have great potential to improve automobile safety and traffic flow, especially in cooperative applications where perception data is shared between vehicles. However, this cooperation must be secured from…
Collaborative Perception (CP) is a process in which an ego agent receives and fuses sensor information from surrounding vehicles and infrastructure to enhance its perception capability. To evaluate the need for infrastructure equipped with…
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…
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…
Cooperative perception (CP) is a key technology to facilitate consistent and accurate situational awareness for connected and autonomous vehicles (CAVs). To tackle the network resource inefficiency issue in traditional broadcast-based CP,…
Task offloading in Vehicular Edge Computing (VEC) can advance cooperative perception (CP) to improve traffic awareness in Autonomous Vehicles. In this paper, we propose the Quality-aware Cooperative Perception Task Offloading (QCPTO)…
In Autonomous Driving (AD), real-time perception is a critical component responsible for detecting surrounding objects to ensure safe driving. While researchers have extensively explored the integrity of AD perception due to its safety and…
Autonomous Driving (AD) systems critically depend on visual perception for real-time object detection and multiple object tracking (MOT) to ensure safe driving. However, high latency in these visual perception components can lead to…
In recent years, autonomous driving has garnered significant attention due to its potential for improving road safety through collaborative perception among connected and autonomous vehicles (CAVs). However, time-varying channel variations…
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…
The paper addresses the vehicle-to-X (V2X) data fusion for cooperative or collective perception (CP). This emerging and promising intelligent transportation systems (ITS) technology has enormous potential for improving efficiency and safety…
Cooperative perception, leveraging shared information from multiple vehicles via vehicle-to-vehicle (V2V) communication, plays a vital role in autonomous driving to alleviate the limitation of single-vehicle perception. Existing works have…
Connected vehicles, whether equipped with advanced driver-assistance systems or fully autonomous, require human driver supervision and are currently constrained to visual information in their line-of-sight. A cooperative perception system…
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…