協調知覚：フェデレーテッド拡散モデルとNeRFを用いたマルチドローン3Dシーン再構成のためのリソース効率フレームワーク
Cooperative Perception: A Resource-Efficient Framework for Multi-Drone 3D Scene Reconstruction Using Federated Diffusion and NeRF
複数ドローンがフェデレーテッド拡散モデルとNeRFを協調させ、低帯域通信下でプライバシーを保ちながらリアルタイムに3D/4Dシーンを再構成する枠組みを提案。
分類: cs.AI, cs.RO
原文アブストラクト
The proposal introduces an innovative drone swarm perception system that aims to solve problems related to computational limitations and low-bandwidth communication, and real-time scene reconstruction. The framework enables efficient multi-agent 3D/4D scene synthesis through federated learning of shared diffusion model and YOLOv12 lightweight semantic extraction and local NeRF updates while maintaining privacy and scalability. The framework redesigns generative diffusion models for joint scene reconstruction, and improves cooperative scene understanding, while adding semantic-aware compression protocols. The approach can be validated through simulations and potential real-world deployment on drone testbeds, positioning it as a disruptive advancement in multi-agent AI for autonomous systems.