重思基础设施在协同感知中的作用
计算机视觉与模式识别
2025-04-30 v2
摘要
协同感知（CP）是一种过程，其中ego代理接收并融合来自周围车辆和基础设施的传感器信息，以增强其感知能力。为了评估基础设施数据在CP中作用的需求，大规模和量化分析是至关重要的，但尚未得到充分探索。为了解决这一空白，我们首先定量评估了基础设施数据在现有车辆中心CP中的重要性，其中ego代理为车辆。 Furthermore, we compare vehicle-centric CP with infra-centric CP, where the ego agent is now the infrastructure, to evaluate the effectiveness of each approach. Our results demonstrate that incorporating infrastructure data improves 3D detection accuracy by up to 10.30%, and infra-centric CP shows enhanced noise robustness and increases accuracy by up to 46.47% compared with vehicle-centric CP.
关键词
引用
@article{arxiv.2410.11259,
title = {Rethinking the Role of Infrastructure in Collaborative Perception},
author = {Hyunchul Bae and Minhee Kang and Minwoo Song and Heejin Ahn},
journal= {arXiv preprint arXiv:2410.11259},
year = {2025}
}
备注
Accepted by ECCV 2024 Workshop MAAS, 14 pages