{"id":"https://openalex.org/W4387929392","doi":"https://doi.org/10.48550/arxiv.2310.14702","title":"BM2CP: Efficient Collaborative Perception with LiDAR-Camera Modalities","display_name":"BM2CP: Efficient Collaborative Perception with LiDAR-Camera Modalities","publication_year":2023,"publication_date":"2023-10-23","ids":{"openalex":"https://openalex.org/W4387929392","doi":"https://doi.org/10.48550/arxiv.2310.14702"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2310.14702","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2310.14702","pdf_url":"https://arxiv.org/pdf/2310.14702","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"volume":null,"type":"preprint","is_traditional":true,"indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2310.14702","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5018280302","display_name":"Binyu Zhao","orcid":"https://orcid.org/0000-0002-9564-6757","observed_orcids":["https://orcid.org/0000-0002-9564-6757"]},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhao, Binyu","raw_affiliation_strings":["School of Computer Science and Technology Harbin Institute of Technology , China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology Harbin Institute of Technology , China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100695077","display_name":"Wei Zhang","orcid":"https://orcid.org/0009-0006-3519-1419","observed_orcids":["https://orcid.org/0009-0006-3519-1419"]},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhang, Wei","raw_affiliation_strings":["School of Computer Science and Technology Harbin Institute of Technology , China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology Harbin Institute of Technology , China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087244952","display_name":"Zhaonian Zou","orcid":"https://orcid.org/0000-0001-9475-8944","observed_orcids":["https://orcid.org/0000-0001-9475-8944"]},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zou, Zhaonian","raw_affiliation_strings":["School of Computer Science and Technology Harbin Institute of Technology , China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology Harbin Institute of Technology , China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":12,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.0010999999940395355,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.0005000000237487257,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/cooperative-perception","display_name":"cooperative perception","score":0.9959999918937683},{"id":"https://openalex.org/keywords/multisensory-perception","display_name":"multisensory perception","score":0.7639999985694885},{"id":"https://openalex.org/keywords/camera-lidar-fusion","display_name":"LiDAR-camera fusion","score":0.9909999966621399},{"id":"https://openalex.org/keywords/autonomous-driving","display_name":"autonomous driving","score":0.7350000143051147},{"id":"https://openalex.org/keywords/communication-efficiency","display_name":"communication efficiency","score":0.7129999995231628},{"id":"https://openalex.org/keywords/occlusion","display_name":"occlusion","score":0.5809999704360962}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8559887409210205},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.7568986415863037},{"id":"https://openalex.org/C2779903281","wikidata":"https://www.wikidata.org/wiki/Q6888026","display_name":"Modalities","level":2,"score":0.7556629180908203},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.723268985748291},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.704544186592102},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.5487039685249329},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.5142623782157898},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5047529935836792},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4980893135070801},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.454990029335022},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4493640959262848},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.43882936239242554},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.1953611671924591},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09807616472244263},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.08203849196434021},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.07394927740097046},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.06999295949935913},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C36289849","wikidata":"https://www.wikidata.org/wiki/Q34749","display_name":"Social science","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2310.14702","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2310.14702","pdf_url":"https://arxiv.org/pdf/2310.14702","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2310.14702","doi":"https://doi.org/10.48550/arxiv.2310.14702","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2310.14702","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2310.14702","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2310.14702","pdf_url":"https://arxiv.org/pdf/2310.14702","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4387929392.pdf","grobid_xml":"https://content.openalex.org/works/W4387929392.grobid-xml"},"referenced_works_count":1,"referenced_works":["https://openalex.org/W2908510526"],"related_works":["https://openalex.org/W4404469661","https://openalex.org/W7133345135","https://openalex.org/W4405308179","https://openalex.org/W7134839842","https://openalex.org/W4404546564","https://openalex.org/W4412623693","https://openalex.org/W7203538192","https://openalex.org/W4406959726","https://openalex.org/W7131070239","https://openalex.org/W7125584789"],"abstract_inverted_index":{"Collaborative":[0],"perception":[1,16,53],"enables":[2],"agents":[3],"to":[4,61,78,91],"share":[5],"complementary":[6],"perceptual":[7],"information":[8],"with":[9,93,121],"nearby":[10],"agents.":[11],"This":[12],"would":[13],"improve":[14],"the":[15,20,44,94,100,118],"performance":[17],"and":[18,28,40,59,74,129],"alleviate":[19],"issues":[21],"of":[22,46,84,99,106],"single-view":[23],"perception,":[24],"such":[25],"as":[26],"occlusion":[27],"sparsity.":[29],"Most":[30],"existing":[31],"approaches":[32],"mainly":[33],"focus":[34],"on":[35],"single":[36],"modality":[37],"(especially":[38],"LiDAR),":[39],"not":[41],"fully":[42],"exploit":[43],"superiority":[45],"multi-modal":[47,64],"perception.":[48,65],"We":[49],"propose":[50],"a":[51],"collaborative":[52],"paradigm,":[54],"BM2CP,":[55],"which":[56],"employs":[57],"LiDAR":[58],"camera":[60],"achieve":[62],"efficient":[63],"It":[66],"utilizes":[67],"LiDAR-guided":[68],"modal":[69],"fusion,":[70],"cooperative":[71],"depth":[72],"generation":[73],"modality-guided":[75],"intermediate":[76],"fusion":[77],"acquire":[79],"deep":[80],"interactions":[81],"among":[82],"modalities":[83],"different":[85,104],"agents,":[86],"Moreover,":[87],"it":[88],"is":[89,109,136],"capable":[90],"cope":[92],"special":[95],"case":[96],"where":[97],"one":[98],"sensors,":[101],"same":[102],"or":[103],"type,":[105],"any":[107],"agent":[108],"missing.":[110],"Extensive":[111],"experiments":[112],"validate":[113],"that":[114],"our":[115],"approach":[116],"outperforms":[117],"state-of-the-art":[119],"methods":[120],"50X":[122],"lower":[123],"communication":[124],"volumes":[125],"in":[126],"both":[127],"simulated":[128],"real-world":[130],"autonomous":[131],"driving":[132],"scenarios.":[133],"Our":[134],"code":[135],"available":[137],"at":[138],"https://github.com/byzhaoAI/BM2CP.":[139]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2}],"updated_date":"2026-11-10T11:39:43.021295","created_date":"2023-10-25T00:00:00"}
