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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2509.24903 |
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| _version_ | 1866911183830777856 |
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| author | Li, Lantao Yang, Kang Song, Rui Sun, Chen |
| author_facet | Li, Lantao Yang, Kang Song, Rui Sun, Chen |
| contents | Cooperative perception enabled by Vehicle-to-Everything communication has shown great promise in enhancing situational awareness for autonomous vehicles and other mobile robotic platforms. Despite recent advances in perception backbones and multi-agent fusion, real-world deployments remain challenged by hard detection cases, exemplified by partial detections and noise accumulation which limit downstream detection accuracy. This work presents Diffusion on Reinforced Cooperative Perception (DRCP), a real-time deployable framework designed to address aforementioned issues in dynamic driving environments. DRCP integrates two key components: (1) Precise-Pyramid-Cross-Modality-Cross-Agent, a cross-modal cooperative perception module that leverages camera-intrinsic-aware angular partitioning for attention-based fusion and adaptive convolution to better exploit external features; and (2) Mask-Diffusion-Mask-Aggregation, a novel lightweight diffusion-based refinement module that encourages robustness against feature perturbations and aligns bird's-eye-view features closer to the task-optimal manifold. The proposed system achieves real-time performance on mobile platforms while significantly improving robustness under challenging conditions. Code will be released in late 2025. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_24903 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | DRCP: Diffusion on Reinforced Cooperative Perception for Perceiving Beyond Limits Li, Lantao Yang, Kang Song, Rui Sun, Chen Robotics Computer Vision and Pattern Recognition Image and Video Processing Cooperative perception enabled by Vehicle-to-Everything communication has shown great promise in enhancing situational awareness for autonomous vehicles and other mobile robotic platforms. Despite recent advances in perception backbones and multi-agent fusion, real-world deployments remain challenged by hard detection cases, exemplified by partial detections and noise accumulation which limit downstream detection accuracy. This work presents Diffusion on Reinforced Cooperative Perception (DRCP), a real-time deployable framework designed to address aforementioned issues in dynamic driving environments. DRCP integrates two key components: (1) Precise-Pyramid-Cross-Modality-Cross-Agent, a cross-modal cooperative perception module that leverages camera-intrinsic-aware angular partitioning for attention-based fusion and adaptive convolution to better exploit external features; and (2) Mask-Diffusion-Mask-Aggregation, a novel lightweight diffusion-based refinement module that encourages robustness against feature perturbations and aligns bird's-eye-view features closer to the task-optimal manifold. The proposed system achieves real-time performance on mobile platforms while significantly improving robustness under challenging conditions. Code will be released in late 2025. |
| title | DRCP: Diffusion on Reinforced Cooperative Perception for Perceiving Beyond Limits |
| topic | Robotics Computer Vision and Pattern Recognition Image and Video Processing |
| url | https://arxiv.org/abs/2509.24903 |