相关论文: ParCon: Noise-Robust Collaborative Perception via …

This paper presents a modular autonomous driving architecture for Formula Student Driverless competition vehicles operating in closed-circuit environments. The perception module employs YOLOv11 for real-time traffic cone detection,…

Anomaly detection is a critical requirement for ensuring safety in autonomous driving. In this work, we leverage Cooperative Perception to share information across nearby vehicles, enabling more accurate identification and consensus of…

Multi-modal 3D object detectors are dedicated to exploring secure and reliable perception systems for autonomous driving (AD).Although achieving state-of-the-art (SOTA) performance on clean benchmark datasets, they tend to overlook the…

Collaborative perception is essential for networks of agents with limited sensing capabilities, enabling them to work together by exchanging information to achieve a robust and comprehensive understanding of their environment. However,…

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…

Multi-agent collaborative perception enhances perceptual capabilities by utilizing information from multiple agents and is considered a fundamental solution to the problem of weak single-vehicle perception in autonomous driving. However,…

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…

Collaborative perception, an emerging paradigm in autonomous driving, has been introduced to mitigate the limitations of single-vehicle systems, such as limited sensor range and occlusion. To improve the robustness of inter-vehicle data…

The value of roadside perception, which could extend the boundaries of autonomous driving and traffic management, has gradually become more prominent and acknowledged in recent years. However, existing roadside perception approaches only…

Object detection and segmentation are two core modules of an autonomous vehicle perception system. They should have high efficiency and low latency while reducing computational complexity. Currently, the most commonly used algorithms are…

Perception-centric systems are typically implemented with a modular encoder-decoder pipeline: a vision backbone for feature extraction and a separate decoder (or late-fusion module) for task prediction. This raises a central question: is…

The effectiveness of autonomous vehicles relies on reliable perception capabilities. Despite significant advancements in artificial intelligence and sensor fusion technologies, current single-vehicle perception systems continue to encounter…

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…

Perception is a critical component of high-integrity applications of robotics and autonomous systems, such as self-driving cars. In these applications, failure of perception systems may put human life at risk, and a broad adoption of these…

This paper presents CORE, a conceptually simple, effective and communication-efficient model for multi-agent cooperative perception. It addresses the task from a novel perspective of cooperative reconstruction, based on two key insights: 1)…

Real-time perception and motion planning are two crucial tasks for autonomous driving. While there are many research works focused on improving the performance of perception and motion planning individually, it is still not clear how a…

Cooperative perception enhances the individual perception capabilities of autonomous vehicles (AVs) by providing a comprehensive view of the environment. However, balancing perception performance and transmission costs remains a significant…

Real-time scene parsing is a fundamental feature for autonomous driving vehicles with multiple cameras. In this letter we demonstrate that sharing semantics between cameras with different perspectives and overlapped views can boost the…

Designing a module or mechanism that enables a network to maintain low parameters and FLOPs without sacrificing accuracy and throughput remains a challenge. To address this challenge and exploit the redundancy within feature map channels,…

By using various sensors to measure the surroundings and sharing local sensor information with the surrounding vehicles through wireless networks, connected and automated vehicles (CAVs) are expected to increase safety, efficiency, and…