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VIPS: Real-Time Perception Fusion for Infrastructure-Assisted Autonomous Driving

Published: 22 May 2023 Publication History

Abstract

Infrastructure-assisted autonomous driving is an emerging paradigm that expects to significantly improve the driving safety of autonomous vehicles. The key enabling technology for this vision is to fuse LiDAR results from the roadside infrastructure and the vehicle to improve the vehicle's perception in real time. In this work, we propose VIPS, a novel lightweight system that can achieve decimeter-level and real-time (up to 100ms) perception fusion between driving vehicles and roadside infrastructure. The key idea of VIPS is to exploit highly efficient matching of graph structures that encode objects' lean representations as well as their relationships, such as locations, semantics, sizes, and spatial distribution. Moreover, by leveraging the tracked motion trajectories, VIPS can maintain the spatial and temporal consistency of the scene, which effectively mitigates the impact of asynchronous data frames and unpredictable communication/ compute delays.

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Cited By

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  • (2024)Cooperative Infrastructure Perception2024 IEEE/ACM Ninth International Conference on Internet-of-Things Design and Implementation (IoTDI)10.1109/IoTDI61053.2024.00010(61-72)Online publication date: 13-May-2024
  • (2024)Edge-Assisted Relevance-Aware Perception Dissemination in Vehicular Networks2024 IEEE 44th International Conference on Distributed Computing Systems (ICDCS)10.1109/ICDCS60910.2024.00072(715-725)Online publication date: 23-Jul-2024

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Published In

cover image GetMobile: Mobile Computing and Communications
GetMobile: Mobile Computing and Communications  Volume 27, Issue 1
March 2023
39 pages
ISSN:2375-0529
EISSN:2375-0537
DOI:10.1145/3599184
Issue’s Table of Contents
Permission to make digital or hard copies of part or all of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for third-party components of this work must be honored. For all other uses, contact the Owner/Author.

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 22 May 2023
Published in SIGMOBILE-GETMOBILE Volume 27, Issue 1

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Cited By

View all
  • (2024)Cooperative Infrastructure Perception2024 IEEE/ACM Ninth International Conference on Internet-of-Things Design and Implementation (IoTDI)10.1109/IoTDI61053.2024.00010(61-72)Online publication date: 13-May-2024
  • (2024)Edge-Assisted Relevance-Aware Perception Dissemination in Vehicular Networks2024 IEEE 44th International Conference on Distributed Computing Systems (ICDCS)10.1109/ICDCS60910.2024.00072(715-725)Online publication date: 23-Jul-2024

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