SparseCoop delivers state-of-the-art 3D detection and tracking performance on V2X-Seq and Griffin datasets using only sparse kinematic queries instead of dense BEV features, with lower transmission cost and latency robustness.
Liu, Y .; Wang, T.; Zhang, X.; and Sun, J
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UECP replaces detection-correlated confidence maps with a LiDAR point-density uncertainty map and introduces Uncertainty-Aware Pyramid Fusion to improve collaborative perception.
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SparseCoop: Cooperative Perception with Kinematic-Grounded Queries
SparseCoop delivers state-of-the-art 3D detection and tracking performance on V2X-Seq and Griffin datasets using only sparse kinematic queries instead of dense BEV features, with lower transmission cost and latency robustness.
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UECP: Uncertainty-Enhanced Collaborative Perception
UECP replaces detection-correlated confidence maps with a LiDAR point-density uncertainty map and introduces Uncertainty-Aware Pyramid Fusion to improve collaborative perception.