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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 Collective Perception Service (CPS) enables the enhancement of environmental awareness of Intelligent Transport System Stations (ITS-S) through the exchange of tracking information between stations. As the market penetration of CPS is…

Recent reports from the World Health Organization highlight that Vulnerable Road Users (VRUs) have been involved in over half of the road fatalities in recent years, with occlusion risk - a scenario where VRUs are hidden from drivers' view…

Connected and Automated Vehicles (CAVs) utilize a variety of onboard sensors to sense their surrounding environment. CAVs can improve their perception capabilities if vehicles exchange information about what they sense using V2X…

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…

Collaborative Perception (CP) has been a promising solution to address occlusions in the traffic environment by sharing sensor data among collaborative vehicles (CoV) via vehicle-to-everything (V2X) network. With limited wireless bandwidth,…

Cooperative perception plays a vital role in extending a vehicle's sensing range beyond its line-of-sight. However, exchanging raw sensory data under limited communication resources is infeasible. Towards enabling an efficient cooperative…

Vehicle-to-everything (V2X) autonomous driving opens up a promising direction for developing a new generation of intelligent transportation systems. Collaborative perception (CP) as an essential component to achieve V2X can overcome the…

V2X communication has become crucial for enhancing road safety, especially for Vulnerable Road Users (VRU) such as pedestrians and cyclists. However, the increasing number of devices communicating on the same channels will lead to…

Perception is one of the crucial module of the autonomous driving system, which has made great progress recently. However, limited ability of individual vehicles results in the bottleneck of improvement of the perception performance. To…

Timely and reliable environment perception is fundamental to safe and efficient automated driving. However, the perception of standalone intelligence inevitably suffers from occlusions. A new paradigm, Cooperative Perception (CP), comes to…

While automated driving is often advertised with better-than-human driving performance, this work reviews that it is nearly impossible to provide direct statistical evidence on the system level that this is actually the case. The amount of…

The reliability of current autonomous driving systems is often jeopardized in situations when the vehicle's field-of-view is limited by nearby occluding objects. To mitigate this problem, vehicle-to-vehicle communication to share sensor…

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.…

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…

Sensor-based perception on vehicles are becoming prevalent and important to enhance the road safety. Autonomous driving systems use cameras, LiDAR, and radar to detect surrounding objects, while human-driven vehicles use them to assist the…

This thesis addresses the use of Cooperative Intelligent Transport Systems (CITS) to improve road safety and efficiency by enabling vehicle-to-vehicle communication, highlighting the importance of secure and accurate data exchange. To…

Cooperative perception, or collective perception (CP) is an emerging and promising technology for intelligent transportation systems (ITS). It enables an ITS station (ITS-S) to share its local perception information with others by means of…

Traffic Surveillance Systems (TSS) have become increasingly crucial in modern intelligent transportation systems, with vision technologies playing a central role for scene perception and understanding. While existing surveys typically focus…

Vehicles provide an ideal platform for urban sensing applications, as they can be equipped with all kinds of sensing devices that can continuously monitor the environment around the travelling vehicle. In this work we are particularly…