CoCam4D: カメラのみの自動運転のための幾何学認識型協調4D知覚
CoCam4D: Geometry-Aware Cooperative 4D Perception for Camera-Only Autonomous Driving
複数車両が3Dガウス表現と不確かさを共有し、LiDARなしでカメラのみの協調知覚を実現するベイズフレームワークを提案。
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著者: Soham Pahari, Sudip Das, Arindam Das, Ujjwal Bhattacharya
分類: cs.RO, cs.CV
原文アブストラクト
Autonomous vehicles often suffer from limited perception due to occlusions, blind spots, limited sensor range, and the complex nature of surrounding environments. Multi-agent collaborative perception (CP) addresses these challenges by allowing vehicles to share sensory information and reconstruct the scene cooperatively. However, camera-only perception remains fundamentally limited by the uncertainty of distance-dependent monocular depth estimation. We propose CoCam4D, a Bayesian framework for collaborative perception that explicitly models geometric uncertainty. It uses a VGGT-based feedforward network to generate 3D Gaussian scene representations with associated uncertainty estimates, enabling multiple vehicles or agents to efficiently combine their observations. By sharing compact Gaussian primitives, reliable observations from one agent can reduce the depth uncertainty of another without requiring LiDAR sensors. To support real-world deployment, we introduce Dynamic Object Primitives (DOPs), a compact 35-byte representation designed for efficient C-V2X communication. Extensive experiments show that our proposed method consistently outperforms recent vision-only methods, achieving improvements of 11.48% on OPV2V+ and 10.62% on DAIR-V2X-C, demonstrating the potential of geometrically grounded collaborative perception for LiDAR-free autonomous driving.