F-Cooper: Feature based Cooperative Perception for Autonomous Vehicle Edge Computing System Using 3D Point Clouds

Abstract

Autonomous vehicles are heavily reliant upon their sensors to perfect the perception of surrounding environments, however, with the current state of technology, the data which a vehicle uses is confined to that from its own sensors. Data sharing between vehicles and/or edge servers is limited by the available network bandwidth and the stringent real-time constraints of autonomous driving applications. To address these issues, we propose a point cloud feature based cooperative perception framework (F-Cooper) for connected autonomous vehicles to achieve a better object detection precision. Not only will feature based data be sufficient for the training process, we also use the features' intrinsically small size to achieve real-time edge computing, without running the risk of congesting the network. Our experiment results show that by fusing features, we are able to achieve a better object detection result, around 10% improvement for detection within 20 meters and 30% for further distances, as well as achieve faster edge computing with a low communication delay, requiring 71 milliseconds in certain feature selections. To the best of our knowledge, we are the first to introduce feature-level data fusion to connected autonomous vehicles for the purpose of enhancing object detection and making real-time edge computing on inter-vehicle data feasible for autonomous vehicles.