English(EN) CoMET: Tracking the Shared Pose Error of Roadside Messages for Asynchronous Vehicle-Infrastructure Cooperative 3D Detection

CoMET方法通过跟踪路侧姿态误差改进3D车辆检测

作者 PulseAugur 编辑部 · [1 个来源] · 2026-11-09 05:00

研究人员开发了CoMET，一种用于改进异步车路协同3D检测的新颖方法。CoMET解决了路侧传感器消息中姿态误差的挑战，这些误差会转移检测结果并导致不准确，尤其是在物体仅对路侧传感器可见时。通过使用卡尔曼滤波器估计和跟踪这些共享的平移误差，CoMET提高了3D检测的准确性，特别是对于自车未见的物体。该方法在各种检测器和延迟下均显示出鸟瞰图平均精度的大幅提升。 AI

影响通过提高3D检测精度，增强了自动驾驶汽车的协同感知系统。

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arXiv cs.CV TIER_1 English(EN) · Shuwei Sun, Jian Huang, Hui Cao · 2026-11-09 05:00

CoMET：跟踪路侧消息的共享姿态误差以实现异步车路协同3D检测

arXiv:2611.09121v1 Announce Type: new Abstract: A roadside sensor can detect vehicles hidden from the ego vehicle, but a pose error shifts every detection in the same message. We study asynchronous vehicle-infrastructure cooperative 3D detection on V2X-Seq using only information …

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CoMET：跟踪路侧消息的共享姿态误差以实现异步车路协同3D检测

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