Paper ID: 2406.12712

Self-Localized Collaborative Perception

Zhenyang Ni, Zixing Lei, Yifan Lu, Dingju Wang, Chen Feng, Yanfeng Wang, Siheng Chen

Collaborative perception has garnered considerable attention due to its capacity to address several inherent challenges in single-agent perception, including occlusion and out-of-range issues. However, existing collaborative perception systems heavily rely on precise localization systems to establish a consistent spatial coordinate system between agents. This reliance makes them susceptible to large pose errors or malicious attacks, resulting in substantial reductions in perception performance. To address this, we propose~$\mathtt{CoBEVGlue}$, a novel self-localized collaborative perception system, which achieves more holistic and robust collaboration without using an external localization system. The core of~$\mathtt{CoBEVGlue}$ is a novel spatial alignment module, which provides the relative poses between agents by effectively matching co-visible objects across agents. We validate our method on both real-world and simulated datasets. The results show that i) $\mathtt{CoBEVGlue}$ achieves state-of-the-art detection performance under arbitrary localization noises and attacks; and ii) the spatial alignment module can seamlessly integrate with a majority of previous methods, enhancing their performance by an average of $57.7\%$. Code is available at https://github.com/VincentNi0107/CoBEVGlue

Submitted: Jun 18, 2024