Communication-Efficient Collaborative Perception via Information Filling with Codebook

arXiv:2405.04966v1 Announce Type: cross
Abstract: Collaborative perception empowers each agent to improve its perceptual ability through the exchange of perceptual messages with other agents. It inherently results in a fundamental trade-off between perception ability and communication cost. To address this bottleneck issue, our core idea is to optimize the collaborative messages from two key aspects: representation and selection. The proposed codebook-based message representation enables the transmission of integer codes, rather than high-dimensional feature maps. The proposed information-filling-driven message selection optimizes …

arxiv collaborative communication cs.cv cs.it cs.ma information math.it perception type via