VIPS: Real-Time Perception Fusion for Infrastructure-Assisted Autonomous Driving

IF 0.7 Q4 TELECOMMUNICATIONS GetMobile-Mobile Computing & Communications Review Pub Date : 2023-05-17 DOI:10.1145/3599184.3599193
Shuyao Shi, Jiahe Cui, Zhehao Jiang, Zhenyu Yan, Guoliang Xing, Jianwei Niu, Zhenchao Ouyang
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引用次数: 3

Abstract

Infrastructure-assisted autonomous driving is an emerging paradigm that expects to significantly improve the driving safety of autonomous vehicles. The key enabling technology for this vision is to fuse LiDAR results from the roadside infrastructure and the vehicle to improve the vehicle's perception in real time. In this work, we propose VIPS, a novel lightweight system that can achieve decimeter-level and real-time (up to 100ms) perception fusion between driving vehicles and roadside infrastructure. The key idea of VIPS is to exploit highly efficient matching of graph structures that encode objects' lean representations as well as their relationships, such as locations, semantics, sizes, and spatial distribution. Moreover, by leveraging the tracked motion trajectories, VIPS can maintain the spatial and temporal consistency of the scene, which effectively mitigates the impact of asynchronous data frames and unpredictable communication/ compute delays.
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vip:基础设施辅助自动驾驶的实时感知融合
基础设施辅助自动驾驶是一种新兴模式,有望显著提高自动驾驶汽车的驾驶安全性。实现这一愿景的关键技术是融合来自路边基础设施和车辆的激光雷达结果,以实时提高车辆的感知能力。在这项工作中,我们提出了一种新的轻量级系统VIPS,它可以在驾驶车辆和路边基础设施之间实现分米级和实时(高达100ms)的感知融合。VIPS的关键思想是利用图形结构的高效匹配,这些结构编码对象的精益表示及其关系,如位置、语义、大小和空间分布。此外,通过利用跟踪的运动轨迹,VIPS可以保持场景的时空一致性,从而有效地减轻异步数据帧和不可预测的通信/计算延迟的影响。
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