Self-Localized Collaborative Perception

Understand

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.