Can I read Practical Collaborative Perception: A Framework for Asynchronous and Multi-Agent 3D Object Detection on EtoBox?

Practical Collaborative Perception: A Framework for Asynchronous and Multi-Agent 3D Object Detection by Dao, Minh-Quan; Berrio, Julie Stephany; Frémont, Vincent; Shan, Mao; Héry, Elwan; Worrall, Stewart is a scholarly article available to read on EtoBox.

What is Practical Collaborative Perception: A Framework for Asynchronous and Multi-Agent 3D Object Detection about?

Occlusion is a major challenge for LiDAR-based object detection methods. This challenge becomes safety-critical in urban traffic where the ego vehicle must have reliable object detection to avoid collision while its field of view is severely reduced due to the obstruction posed by a large number of road users. Collaborative perception via Vehicle-to-Everything (V2X) communication, which leverages the diverse perspective thanks to the presence at multiple locations of connected agents to form a complete scene representation, is an appealing solution. State-of-the-art V2X methods resolve the performance-bandwidth tradeoff using a mid-collaboration approach where the Bird-Eye View images of point clouds are exchanged so that the bandwidth consumption is lower than communicating point clouds as in early collaboration, and the detection performance is higher than late collaboration, which fuses agents' output, thanks to a deeper interaction among connected agents. While achieving strong performance, the real-world deployment of most mid-collaboration approaches is hindered by their overly complicated architectures, involving learnable collaboration graphs and autoencoder-based compresso

Author

Dao, Minh-Quan; Berrio, Julie Stephany; Frémont, Vincent; Shan, Mao; Héry, Elwan; Worrall, Stewart

Published

2023

Language

EN