Communication-Efficient Collaborative Perception via Information Filling with Codebook
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arXiv
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| Format: | Preprint |
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2024
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| _version_ | 1866916239225389056 |
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| author | Hu, Yue Peng, Juntong Liu, Sifei Ge, Junhao Liu, Si Chen, Siheng |
| author_facet | Hu, Yue Peng, Juntong Liu, Sifei Ge, Junhao Liu, Si Chen, Siheng |
| contents | Collaborative perception empowers each agent to improve its perceptual ability through the exchange of perceptual messages with other agents. It inherently results in a fundamental trade-off between perception ability and communication cost. To address this bottleneck issue, our core idea is to optimize the collaborative messages from two key aspects: representation and selection. The proposed codebook-based message representation enables the transmission of integer codes, rather than high-dimensional feature maps. The proposed information-filling-driven message selection optimizes local messages to collectively fill each agent's information demand, preventing information overflow among multiple agents. By integrating these two designs, we propose CodeFilling, a novel communication-efficient collaborative perception system, which significantly advances the perception-communication trade-off and is inclusive to both homogeneous and heterogeneous collaboration settings. We evaluate CodeFilling in both a real-world dataset, DAIR-V2X, and a new simulation dataset, OPV2VH+. Results show that CodeFilling outperforms previous SOTA Where2comm on DAIR-V2X/OPV2VH+ with 1,333/1,206 times lower communication volume. Our code is available at https://github.com/PhyllisH/CodeFilling. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2405_04966 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Communication-Efficient Collaborative Perception via Information Filling with Codebook Hu, Yue Peng, Juntong Liu, Sifei Ge, Junhao Liu, Si Chen, Siheng Information Theory Computer Vision and Pattern Recognition Multiagent Systems Collaborative perception empowers each agent to improve its perceptual ability through the exchange of perceptual messages with other agents. It inherently results in a fundamental trade-off between perception ability and communication cost. To address this bottleneck issue, our core idea is to optimize the collaborative messages from two key aspects: representation and selection. The proposed codebook-based message representation enables the transmission of integer codes, rather than high-dimensional feature maps. The proposed information-filling-driven message selection optimizes local messages to collectively fill each agent's information demand, preventing information overflow among multiple agents. By integrating these two designs, we propose CodeFilling, a novel communication-efficient collaborative perception system, which significantly advances the perception-communication trade-off and is inclusive to both homogeneous and heterogeneous collaboration settings. We evaluate CodeFilling in both a real-world dataset, DAIR-V2X, and a new simulation dataset, OPV2VH+. Results show that CodeFilling outperforms previous SOTA Where2comm on DAIR-V2X/OPV2VH+ with 1,333/1,206 times lower communication volume. Our code is available at https://github.com/PhyllisH/CodeFilling. |
| title | Communication-Efficient Collaborative Perception via Information Filling with Codebook |
| topic | Information Theory Computer Vision and Pattern Recognition Multiagent Systems |
| url | https://arxiv.org/abs/2405.04966 |