Survey on Cooperative Perception in an Automotive Context

The idea of cooperation has been introduced to self-driving cars about a decade ago with the aim to reduce the occlusion caused by other users or the scene. More recently, the research efforts turned toward cooperative infrastructure bringing a new kind of the point of view as well as more processin...

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Bibliographic Details
Published in:IEEE transactions on intelligent transportation systems 2022-09, Vol.23 (9), p.14204-14223
Main Authors: Caillot, Antoine, Ouerghi, Safa, Vasseur, Pascal, Boutteau, Remi, Dupuis, Yohan
Format: Article
Language:English
Subjects:
Autonomous cars
boldsymbol Cooperation
Cameras
Computer Science
Cooperation
Global Positioning System
infrastructure
localization
Location awareness
mapping
object detection
Object recognition
Occlusion
Perception
Robotics
Satellites
Sensors
Simultaneous localization and mapping
Task analysis
Threat evaluation
tracking
vehicle
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Summary:The idea of cooperation has been introduced to self-driving cars about a decade ago with the aim to reduce the occlusion caused by other users or the scene. More recently, the research efforts turned toward cooperative infrastructure bringing a new kind of the point of view as well as more processing power. This paper lies in this new field providing a survey that addresses the cooperative environment. We provide an overview of the architectures available to create such a system as well as the challenges introduced by the cooperation. Later, we review the main blocks involved in the perception: localization, object detection & tracking, map generation. Each block is reviewed under the prism of cooperation. We also provide a Strengths, Weaknesses, Opportunities, and Threats (SWOT) analysis of the cooperative perception as well as a list of related scenarios alongside experimentations. Finally, we list some related datasets before concluding our paper, underlining the perspectives for further works.
ISSN:1524-9050
1558-0016
DOI:10.1109/TITS.2022.3153815