VI-BEV: Vehicle-Infrastructure Collaborative Perception for 3-D Object Detection on Bird’s-Eye View
As infrastructure equipment development matures, leveraging these assets to enhance automated vehicle perception becomes increasingly valuable for more accurate and broader 3D object detection. This paper proposes a straightforward and scalable framework to incorporate infrastructure and vehicle onb...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2025-01-01
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| Series: | IEEE Open Journal of Intelligent Transportation Systems |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10896690/ |
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| Summary: | As infrastructure equipment development matures, leveraging these assets to enhance automated vehicle perception becomes increasingly valuable for more accurate and broader 3D object detection. This paper proposes a straightforward and scalable framework to incorporate infrastructure and vehicle onboard sensors to perform 3D object detection on Bird’s Eye View(BEV) images. And a cross-attention based block is involved in utilizing the interacted information among the sensors for sensor information fusion. Our model gets validated on the online V2X-Sim dataset under two scenarios: the short-range case and the long-range case. Our model demonstrates superior accuracy and broader detection capabilities compared to the baseline model from the experiment results. |
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| ISSN: | 2687-7813 |