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V2X-PC: Vehicle-to-everything Collaborative Perception via Point Cluster
March 26, 2024, 4:48 a.m. | Si Liu, Zihan Ding, Jiahui Fu, Hongyu Li, Siheng Chen, Shifeng Zhang, Xu Zhou
cs.CV updates on arXiv.org arxiv.org
Abstract: The objective of the collaborative vehicle-to-everything perception task is to enhance the individual vehicle's perception capability through message communication among neighboring traffic agents. Previous methods focus on achieving optimal performance within bandwidth limitations and typically adopt BEV maps as the basic collaborative message units. However, we demonstrate that collaboration with dense representations is plagued by object feature destruction during message packing, inefficient message aggregation for long-range collaboration, and implicit structure representation communication. To tackle these …
abstract agents arxiv bandwidth basic capability cluster collaborative communication cs.cv everything focus however limitations maps perception performance through traffic type units via
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