mmCooper: A Multi-agent Multi-stage Communication-efficient and Collaboration-robust Cooperative Perception Framework

Understand

Collaborative perception significantly enhances individual vehicle perception performance through the exchange of sensory information among agents.

• However, real-world deployment faces challenges due to bandwidth constraints and inevitable calibration errors during information exchange.
• To address these issues, we propose mmCooper, a novel multi-agent, multi-stage, communication-efficient, and collaboration-robust cooperative perception framework.
• Our framework leverages a multi-stage collaboration strategy that dynamically and adaptively balances intermediate- and late-stage information to share among agents, enhancing perceptual performance while maintaining communication efficiency.