CoSDH: Communication-Efficient Collaborative Perception via Supply-Demand Awareness and Intermediate-Late Hybridization
This addresses a critical bottleneck in autonomous driving by improving collaborative perception under real communication constraints, though it is an incremental advancement over existing methods.
The paper tackles the trade-off between communication efficiency and perception accuracy in multi-agent collaborative perception for autonomous driving by proposing CoSDH, which uses supply-demand awareness and intermediate-late hybridization to reduce communication costs while maintaining high detection accuracy, achieving state-of-the-art results on multiple datasets.
Multi-agent collaborative perception enhances perceptual capabilities by utilizing information from multiple agents and is considered a fundamental solution to the problem of weak single-vehicle perception in autonomous driving. However, existing collaborative perception methods face a dilemma between communication efficiency and perception accuracy. To address this issue, we propose a novel communication-efficient collaborative perception framework based on supply-demand awareness and intermediate-late hybridization, dubbed as \mymethodname. By modeling the supply-demand relationship between agents, the framework refines the selection of collaboration regions, reducing unnecessary communication cost while maintaining accuracy. In addition, we innovatively introduce the intermediate-late hybrid collaboration mode, where late-stage collaboration compensates for the performance degradation in collaborative perception under low communication bandwidth. Extensive experiments on multiple datasets, including both simulated and real-world scenarios, demonstrate that \mymethodname~ achieves state-of-the-art detection accuracy and optimal bandwidth trade-offs, delivering superior detection precision under real communication bandwidths, thus proving its effectiveness and practical applicability. The code will be released at https://github.com/Xu2729/CoSDH.