CMP: Cooperative Motion Prediction with Multi-Agent Communication
Fuente:
arXiv
Saved in:
| Main Authors: | , , , , , , |
|---|---|
| Format: | Preprint |
| Published: |
2024
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866915195096399872 |
|---|---|
| author | Wang, Zehao Wang, Yuping Wu, Zhuoyuan Ma, Hengbo Li, Zhaowei Qiu, Hang Li, Jiachen |
| author_facet | Wang, Zehao Wang, Yuping Wu, Zhuoyuan Ma, Hengbo Li, Zhaowei Qiu, Hang Li, Jiachen |
| contents | The confluence of the advancement of Autonomous Vehicles (AVs) and the maturity of Vehicle-to-Everything (V2X) communication has enabled the capability of cooperative connected and automated vehicles (CAVs). Building on top of cooperative perception, this paper explores the feasibility and effectiveness of cooperative motion prediction. Our method, CMP, takes LiDAR signals as model input to enhance tracking and prediction capabilities. Unlike previous work that focuses separately on either cooperative perception or motion prediction, our framework, to the best of our knowledge, is the first to address the unified problem where CAVs share information in both perception and prediction modules. Incorporated into our design is the unique capability to tolerate realistic V2X transmission delays, while dealing with bulky perception representations. We also propose a prediction aggregation module, which unifies the predictions obtained by different CAVs and generates the final prediction. Through extensive experiments and ablation studies on the OPV2V and V2V4Real datasets, we demonstrate the effectiveness of our method in cooperative perception, tracking, and motion prediction. In particular, CMP reduces the average prediction error by 12.3% compared with the strongest baseline. Our work marks a significant step forward in the cooperative capabilities of CAVs, showcasing enhanced performance in complex scenarios. More details can be found on the project website: https://cmp-cooperative-prediction.github.io. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_17916 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | CMP: Cooperative Motion Prediction with Multi-Agent Communication Wang, Zehao Wang, Yuping Wu, Zhuoyuan Ma, Hengbo Li, Zhaowei Qiu, Hang Li, Jiachen Robotics Artificial Intelligence Computer Vision and Pattern Recognition Machine Learning Multiagent Systems The confluence of the advancement of Autonomous Vehicles (AVs) and the maturity of Vehicle-to-Everything (V2X) communication has enabled the capability of cooperative connected and automated vehicles (CAVs). Building on top of cooperative perception, this paper explores the feasibility and effectiveness of cooperative motion prediction. Our method, CMP, takes LiDAR signals as model input to enhance tracking and prediction capabilities. Unlike previous work that focuses separately on either cooperative perception or motion prediction, our framework, to the best of our knowledge, is the first to address the unified problem where CAVs share information in both perception and prediction modules. Incorporated into our design is the unique capability to tolerate realistic V2X transmission delays, while dealing with bulky perception representations. We also propose a prediction aggregation module, which unifies the predictions obtained by different CAVs and generates the final prediction. Through extensive experiments and ablation studies on the OPV2V and V2V4Real datasets, we demonstrate the effectiveness of our method in cooperative perception, tracking, and motion prediction. In particular, CMP reduces the average prediction error by 12.3% compared with the strongest baseline. Our work marks a significant step forward in the cooperative capabilities of CAVs, showcasing enhanced performance in complex scenarios. More details can be found on the project website: https://cmp-cooperative-prediction.github.io. |
| title | CMP: Cooperative Motion Prediction with Multi-Agent Communication |
| topic | Robotics Artificial Intelligence Computer Vision and Pattern Recognition Machine Learning Multiagent Systems |
| url | https://arxiv.org/abs/2403.17916 |