Related papers: DRCP: Diffusion on Reinforced Cooperative Percepti…
The environmental perception of autonomous vehicles in normal conditions have achieved considerable success in the past decade. However, various unfavourable conditions such as fog, low-light, and motion blur will degrade image quality and…
Collaborative Perception (CP) has shown great potential to achieve more holistic and reliable environmental perception in intelligent unmanned systems (IUSs). However, implementing CP still faces key challenges due to the characteristics of…
Precise environmental perception is critical for the reliability of autonomous driving systems. While collaborative perception mitigates the limitations of single-agent perception through information sharing, it encounters a fundamental…
The increasing adoption of human-robot interaction presents opportunities for technology to positively impact lives, particularly those with visual impairments, through applications such as guide-dog-like assistive robotics. We present a…
As a critical task in autonomous driving perception systems, 3D object detection is used to identify and track key objects, such as vehicles and pedestrians. However, detecting distant, small, or occluded objects (hard instances) remains a…
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…
Predicting future trajectories of surrounding traffic agents is critical for safe autonomous navigation and collision avoidance. Despite all advances in the trajectory forecasting realm, the prediction models remains vulnerable to…
Vision-based bird's-eye-view (BEV) 3D object detection has advanced significantly in autonomous driving by offering cost-effectiveness and rich contextual information. However, existing methods often construct BEV representations by…
The recent advancement in computational and communication systems has led to the introduction of high-performing neural networks and high-speed wireless vehicular communication networks. As a result, new technologies such as cooperative…
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…
Estimating and understanding the surroundings of the vehicle precisely forms the basic and crucial step for the autonomous vehicle. The perception system plays a significant role in providing an accurate interpretation of a vehicle's…
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…
Radars, due to their robustness to adverse weather conditions and ability to measure object motions, have served in autonomous driving and intelligent agents for years. However, Radar-based perception suffers from its unintuitive sensing…
Perception of the driving environment is critical for collision avoidance and route planning to ensure driving safety. Cooperative perception has been widely studied as an effective approach to addressing the shortcomings of single-vehicle…
Autonomous driving has attracted significant attention from both academia and industries, which is expected to offer a safer and more efficient driving system. However, current autonomous driving systems are mostly based on a single…
For intelligent vehicles, sensing the 3D environment is the first but crucial step. In this paper, we build a real-time advanced driver assistance system based on a low-power mobile platform. The system is a real-time multi-scheme…
Multi-agent collaborative perception enables autonomous systems to overcome individual sensing limits through collective intelligence. However, real-world sensor and communication corruptions severely undermine this advantage. Crucially,…
With the development of autonomous driving, the improvement of autonomous driving technology for individual vehicles has reached the bottleneck. The advancement of vehicle-road cooperation autonomous driving technology can expand the…
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.…
Cooperative perception systems play a vital role in enhancing the safety and efficiency of vehicular autonomy. Although recent studies have highlighted the efficacy of vehicle-to-everything (V2X) communication techniques in autonomous…