Related papers: Spatiotemporal Feature Alignment and Weighted Fusi…
Collaborative perception is a cornerstone of intelligent connected vehicles, enabling them to share and integrate sensory data to enhance situational awareness. However, measuring the impact of high transmission delay and inconsistent delay…
New technologies for sensing and communication act as enablers for cooperative driving applications. Sensors are able to detect objects in the surrounding environment and information such as their current location is exchanged among…
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…
Connected and autonomous vehicles (CAVs) rely heavily upon time-sensitive information update services to ensure the safety of people and assets, and satisfactory entertainment applications. Therefore, the freshness of information is a…
Heterogeneous information fusion is one of the most critical issues for realizing vehicular cyber-physical systems (VCPSs). This work makes the first attempt at quantitatively measuring the quality of heterogeneous information fusion in…
Cooperative perception presents significant potential for enhancing the sensing capabilities of individual vehicles, however, inter-agent latency remains a critical challenge. Latencies cause misalignments in both spatial and semantic…
In autonomous driving, 3D object detection is essential for accurate perception and reliable decision-making. However, object motion and ego-motion often induce cross-frame spatiotemporal inconsistencies in BEV-based detectors, leading to…
In the domain of intelligent transportation systems (ITS), collaborative perception has emerged as a promising approach to overcome the limitations of individual perception by enabling multiple agents to exchange information, thus enhancing…
Feature-level fusion shows promise in collaborative perception (CP) through balanced performance and communication bandwidth trade-off. However, its effectiveness critically relies on input feature quality. The acquisition of high-quality…
The timely sharing of raw sensing information in the vehicular networks (VNETs) is essential to safety. In order to improve the freshness of sensing information, joint scheduling of multi-dimensional resources such as communication and…
As the fog-based internet of vehicles (IoV) is equipped with rich perception, computing, communication and storage resources, it provides a new solution for the bulk data processing. However, the impact caused by the mobility of vehicles…
We consider collaborative perception (CP) systems where a fusion center monitors various regions by multiple sources. The center has different age of information (AoI) constraints for different regions. Multi-view sensing data for a region…
Perception is a key component of Automated vehicles (AVs). However, sensors mounted to the AVs often encounter blind spots due to obstructions from other vehicles, infrastructure, or objects in the surrounding area. While recent…
Timely message delivery is a key enabler for Internet of Things (IoT) and cyber-physical systems to support wide range of context-dependent applications. Conventional time-related metrics, such as delay, fails to characterize the timeliness…
Collaborative perception in automated vehicles leverages the exchange of information between agents, aiming to elevate perception results. Previous camera-based collaborative 3D perception methods typically employ 3D bounding boxes or…
To reduce the amount of transmitted data, feature map based fusion is recently proposed as a practical solution to cooperative 3D object detection by autonomous vehicles. The precision of object detection, however, may require significant…
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…
The significance of the freshness of sensor and control data at the receiver side, often referred to as Age of Information (AoI), is fundamentally constrained by contention for limited network resources. Evidently, network congestion is…
Fusing different sensor modalities can be a difficult task, particularly if they are asynchronous. Asynchronisation may arise due to long processing times or improper synchronisation during calibration, and there must exist a way to still…
Timely message delivery is a key enabler for Internet of Things (IoT) and cyber-physical systems to support wide range of context-dependent applications. Conventional time-related metrics (e.g. delay and jitter) fails to characterize the…