Infrastructure sensors installed at elevated positions offer a broader perception range and encounter fewer occlusions. Integrating both infrastructure and ego-vehicle data through V2X communication, known as vehicle-infrastructure cooperation, has shown considerable advantages in enhancing perception capabilities and addressing corner cases encountered in single-vehicle autonomous driving. However, cooperative perception still faces numerous challenges, including limited communication bandwidth and practical communication interruptions. In this paper, we propose CTCE, a novel framework for cooperative 3D object detection. This framework transmits queries with temporal contexts enhancement, effectively balancing transmission efficiency and performance to accommodate real-world communication conditions. Additionally, we propose a temporal-guided fusion module to further improve performance. The roadside temporal enhancement and vehicle-side spatial-temporal fusion together constitute a multi-level temporal contexts integration mechanism, fully leveraging temporal information to enhance performance. Furthermore, a motion-aware reconstruction module is introduced to recover lost road-side queries due to communication interruptions. Experimental results on V2X-Seq and V2X-Sim datasets demonstrate that CTCE outperforms the baseline QUEST, achieving improvements of 3.8% and 1.3% in mAP, respectively. Experiments under communication interruption conditions validate CTCE's robustness to communication interruptions.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Leveraging Temporal Contexts to Enhance Vehicle-Infrastructure Cooperative Perception


    Contributors:
    Zhong, Jiaru (author) / Yu, Haibao (author) / Zhu, Tianyi (author) / Xu, Jiahui (author) / Yang, Wenxian (author) / Nie, Zaiqing (author) / Sun, Chao (author)


    Publication date :

    2024-09-24


    Size :

    4855074 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Vehicle charging leveraging telecommunication infrastructure

    WARD DAVID / BEESLEY MICHAEL JOHN | European Patent Office | 2021

    Free access

    VEHICLE CHARGING LEVERAGING TELECOMMUNICATION INFRASTRUCTURE

    WARD DAVID / BEESLEY MICHAEL JOHN | European Patent Office | 2019

    Free access

    Infrastructure sensor-based cooperative perception for early stage connected and automated vehicle deployment

    Chen, Chenxi / Tang, Qing / Hu, Xianbiao et al. | Taylor & Francis Verlag | 2024


    Cooperative Infrastructure-Based Vehicle Positioning

    de Ponte Muller, Fabian / Diaz, Estefania Munoz / Rashdan, Ibrahim | IEEE | 2016