学术文献库

Accurate detection of objects in 3D point clouds is a key problem in autonomous driving systems. Collaborative perception can incorporate information from spatially diverse sensors and provide significant benefits for improving the perception accuracy of autonomous driving systems. In this work, we consider that the autonomous vehicle uses local point cloud data and combines information from neighboring infrastructures through wireless links for cooperative 3D object detection. However, information sharing among vehicle and infrastructures in predefined communication schemes may result in communication congestion and/or bring limited performance improvement. To this end, we propose a novel collaborative 3D object detection framework that consists of three components: feature learning networks that map point clouds into feature maps; an efficient communication block that propagates compact and fine-grained query feature maps from vehicle to support infrastructures and optimizes attention weights between query and key to refine support feature maps; a region proposal network that fuses local feature maps and weighted support feature maps for 3D object detection. We evaluate the performance of the proposed framework using a synthetic cooperative dataset created in two complex driving scenarios: a roundabout and a T-junction. Experiment results and bandwidth usage analysis demonstrate that our approach can save communication and computation costs and significantly improve detection performance under different detection difficulties in all scenarios.