相关论文: LCV2I: Communication-Efficient and High-Performanc…

Cooperative perception allows connected vehicles and roadside infrastructure to share sensor observations, creating a fused scene representation beyond the capability of any single platform. However, most cooperative 3D object detectors use…

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…

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…

In this paper, we explore the use of vehicle-to-vehicle (V2V) communication to improve the perception and motion forecasting performance of self-driving vehicles. By intelligently aggregating the information received from multiple nearby…

Accurate prediction of communication link quality metrics is essential for vehicle-to-infrastructure (V2I) systems, enabling smooth handovers, efficient beam management, and reliable low-latency communication. The increasing availability of…

Vehicle-to-infrastructure collaborative perception (V2I-CP) leverages a high-vantage node to transmit supplementary information, i.e., bird's-eye-view (BEV) feature maps, to vehicles, effectively overcoming line-of-sight limitations.…

Modern perception systems of autonomous vehicles are known to be sensitive to occlusions and lack the capability of long perceiving range. It has been one of the key bottlenecks that prevents Level 5 autonomy. Recent research has…

Cooperative perception, which has a broader perception field than single-vehicle perception, has played an increasingly important role in autonomous driving to conduct 3D object detection. Through vehicle-to-vehicle (V2V) communication…

In this paper, we investigate the application of Vehicle-to-Everything (V2X) communication to improve the perception performance of autonomous vehicles. We present a robust cooperative perception framework with V2X communication using a…

Employing Vehicle-to-Vehicle communication to enhance perception performance in self-driving technology has attracted considerable attention recently; however, the absence of a suitable open dataset for benchmarking algorithms has made it…

In autonomous driving, Vehicle-Infrastructure Cooperative 3D Object Detection (VIC3D) makes use of multi-view cameras from both vehicles and traffic infrastructure, providing a global vantage point with rich semantic context of road…

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…

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…

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…

Collaborative perception systems overcome single-vehicle limitations in long-range detection and occlusion scenarios by integrating multi-agent sensory data, improving accuracy and safety. However, frequent cooperative interactions and…

Bird's-Eye-View (BEV) is critical to connected and automated vehicles (CAVs) as it can provide unified and precise representation of vehicular surroundings. However, quality of the raw sensing data may degrade in occluded or distant…

Vehicle-to-Everything (V2X) collaborative perception extends sensing beyond single vehicle limits through transmission. However, as more agents participate, existing frameworks face two key challenges: (1) the participating agents are…

Sensor calibration usually is a time consuming yet important task. While classical approaches are sensor-specific and often need calibration targets as well as a widely overlapping field of view (FOV), within this work, a cooperative…

In cooperative perception studies, there is often a trade-off between communication bandwidth and perception performance. While current feature fusion solutions are known for their excellent object detection performance, transmitting the…

In this paper, we propose a new deep architecture for fusing camera and LiDAR sensors for 3D object detection. Because the camera and LiDAR sensor signals have different characteristics and distributions, fusing these two modalities is…