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Journal Articles IEEE Transactions on Intelligent Transportation Systems Year : 2022

Survey on Cooperative Perception in an Automotive Context

État de l'Art sur la Perception Coopérative dans un Contexte Automobile.


The idea of cooperation has been introduced to selfdriving 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.
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Dates and versions

hal-03608119 , version 1 (15-03-2022)



Antoine Caillot, Safa Ouerghi, Pascal Vasseur, Rémi Boutteau, Yohan Dupuis. Survey on Cooperative Perception in an Automotive Context. IEEE Transactions on Intelligent Transportation Systems, 2022, ⟨10.1109/TITS.2022.3153815⟩. ⟨hal-03608119⟩
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