1. V2X-M2C: Efficient Multi-Module Collaborative Perception with Two Connections
- Author
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Bae, Hyunchul, Kang, Minhee, and Ahn, Heejin
- Subjects
Computer Science - Computer Vision and Pattern Recognition - Abstract
In this paper, we investigate improving the perception performance of autonomous vehicles through communication with other vehicles and road infrastructures. To this end, we introduce a collaborative perception model $\textbf{V2X-M2C}$, consisting of multiple modules, each generating inter-agent complementary information, spatial global context, and spatial local information. Inspired by the question of why most existing architectures are sequential, we analyze both the $\textit{sequential}$ and $\textit{parallel}$ connections of the modules. The sequential connection synergizes the modules, whereas the parallel connection independently improves each module. Extensive experiments demonstrate that V2X-M2C achieves state-of-the-art perception performance, increasing the detection accuracy by 8.00% to 10.87% and decreasing the FLOPs by 42.81% to 52.64%., Comment: 17pages
- Published
- 2024