Related papers: CoRA: A Collaborative Robust Architecture with Hyb…
Camera-only 3D detection provides an economical solution with a simple configuration for localizing objects in 3D space compared to LiDAR-based detection systems. However, a major challenge lies in precise depth estimation due to the lack…
Multi-agent collaborative perception enhances each agent perceptual capabilities by sharing sensing information to cooperatively perform robot perception tasks. This approach has proven effective in addressing challenges such as sensor…
Cooperative perception enabled by Vehicle-to-Everything communication has shown great promise in enhancing situational awareness for autonomous vehicles and other mobile robotic platforms. Despite recent advances in perception backbones and…
Multi-agent collaborative perception could significantly upgrade the perception performance by enabling agents to share complementary information with each other through communication. It inevitably results in a fundamental trade-off…
Robotic middleware serves as the foundational infrastructure, enabling complex robotic systems to operate in a coordinated and modular manner. In data-intensive robotic applications, especially in industrial scenarios, communication…
Cooperative perception extends the perception capabilities of autonomous vehicles by enabling multi-agent information sharing via Vehicle-to-Everything (V2X) communication. Unlike traditional onboard sensors, V2X acts as a dynamic…
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…
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…
Collaborative perception, fusing information from multiple agents, can extend perception range so as to improve perception performance. However, temporal asynchrony in real-world environments, caused by communication delays, clock…
3D object detection is a common function within the perception system of an autonomous vehicle and outputs a list of 3D bounding boxes around objects of interest. Various 3D object detection methods have relied on fusion of different sensor…
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…
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 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.…
Adaptability has been regarded as a central feature in the foundation models, enabling them to effectively acclimate to unseen downstream tasks. Parameter-efficient fine-tuning methods such as celebrated LoRA facilitate efficient adaptation…
Communication remains the most significant bottleneck in the performance of distributed optimization algorithms for large-scale machine learning. In this paper, we propose a communication-efficient framework, CoCoA, that uses local…
Cooperative perception allows a Connected Autonomous Vehicle (CAV) to interact with the other CAVs in the vicinity to enhance perception of surrounding objects to increase safety and reliability. It can compensate for the limitations of the…
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…
As a pivotal technology for autonomous driving, collaborative perception enables vehicular agents to exchange perceptual data through vehicle-to-everything (V2X) communications, thereby enhancing perception accuracy of all collaborators.…
Collaborative perception (CP) is emerging as a promising solution to the inherent limitations of stand-alone intelligence. However, current wireless communication systems are unable to support feature-level and raw-level collaborative…
Low-rank adaptation (LoRA) has achieved remarkable success in fine-tuning pre-trained vision transformers for various downstream tasks. Existing studies mainly focus on exploring more parameter-efficient strategies or more effective…