{"id":"https://openalex.org/W4308068560","doi":"https://doi.org/10.1109/itsc55140.2022.9921807","title":"CoPEM: Cooperative Perception Error Models for Autonomous Driving","display_name":"CoPEM: Cooperative Perception Error Models for Autonomous Driving","publication_year":2022,"publication_date":"2022-10-08","ids":{"openalex":"https://openalex.org/W4308068560","doi":"https://doi.org/10.1109/itsc55140.2022.9921807"},"language":"en","primary_location":{"id":"doi:10.1109/itsc55140.2022.9921807","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9921807","pdf_url":null,"source":{"id":"https://openalex.org/S4363607737","display_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2211.11175","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5060554936","display_name":"Andrea Piazzoni","orcid":"https://orcid.org/0000-0003-1734-2296"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]},{"id":"https://openalex.org/I4210109648","display_name":"Eye & Retina Surgeons","ror":"https://ror.org/01mhm7x58","country_code":"SG","type":"healthcare","lineage":["https://openalex.org/I4210109648"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Andrea Piazzoni","raw_affiliation_strings":["ERI@N, Interdisciplinary Graduate Programme,Singapore","Centre of Excellence for Testing & Research of AVs, Nanyang Technological University, Singapore","ERI@N, Interdisciplinary Graduate Programme, Singapore"],"affiliations":[{"raw_affiliation_string":"ERI@N, Interdisciplinary Graduate Programme,Singapore","institution_ids":["https://openalex.org/I4210109648"]},{"raw_affiliation_string":"Centre of Excellence for Testing & Research of AVs, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"ERI@N, Interdisciplinary Graduate Programme, Singapore","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082636244","display_name":"Jim Cherian","orcid":"https://orcid.org/0000-0003-3759-2559"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Jim Cherian","raw_affiliation_strings":["Centre of Excellence for Testing &#x0026; Research of AVs, Nanyang Technological University,Singapore"],"affiliations":[{"raw_affiliation_string":"Centre of Excellence for Testing &#x0026; Research of AVs, Nanyang Technological University,Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014734394","display_name":"Roshan Vijay","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Roshan Vijay","raw_affiliation_strings":["Centre of Excellence for Testing &#x0026; Research of AVs, Nanyang Technological University,Singapore"],"affiliations":[{"raw_affiliation_string":"Centre of Excellence for Testing &#x0026; Research of AVs, Nanyang Technological University,Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044722301","display_name":"Lap\u2010Pui Chau","orcid":"https://orcid.org/0000-0003-4932-0593"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lap-Pui Chau","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore","School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082613025","display_name":"Justin Dauwels","orcid":"https://orcid.org/0000-0002-4390-1568"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Justin Dauwels","raw_affiliation_strings":["TU Delft,Fac. EEMCS,Dept. of Microelectronics,Delft,2628 CD"],"affiliations":[{"raw_affiliation_string":"TU Delft,Fac. EEMCS,Dept. of Microelectronics,Delft,2628 CD","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5060554936"],"corresponding_institution_ids":["https://openalex.org/I172675005","https://openalex.org/I4210109648"],"apc_list":null,"apc_paid":null,"fwci":1.7227,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.87451613,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3934","last_page":"3939"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9997000098228455,"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":0.9997000098228455,"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/T10761","display_name":"Vehicular Ad Hoc Networks (VANETs)","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7553942203521729},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.6939499378204346},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.6100276708602905},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5306429266929626},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5080420970916748},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.48464804887771606},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.47333770990371704},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36257678270339966},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3567129373550415},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.34961578249931335},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.21263664960861206}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7553942203521729},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.6939499378204346},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.6100276708602905},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5306429266929626},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5080420970916748},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.48464804887771606},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.47333770990371704},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36257678270339966},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3567129373550415},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.34961578249931335},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.21263664960861206},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/itsc55140.2022.9921807","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9921807","pdf_url":null,"source":{"id":"https://openalex.org/S4363607737","display_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2211.11175","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2211.11175","pdf_url":"https://arxiv.org/pdf/2211.11175","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":"pmh:oai:dr.ntu.edu.sg:10356/166784","is_oa":false,"landing_page_url":"https://hdl.handle.net/10356/166784","pdf_url":null,"source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"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":"Conference Paper"},{"id":"pmh:oai:tudelft.nl:uuid:e16d0868-8a06-45da-903b-24c54924d3af","is_oa":false,"landing_page_url":"http://resolver.tudelft.nl/uuid:e16d0868-8a06-45da-903b-24c54924d3af","pdf_url":null,"source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference paper"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2211.11175","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2211.11175","pdf_url":"https://arxiv.org/pdf/2211.11175","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":[{"score":0.6100000143051147,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W2015605078","https://openalex.org/W2115880660","https://openalex.org/W2141184637","https://openalex.org/W2147041146","https://openalex.org/W2582505644","https://openalex.org/W2800822458","https://openalex.org/W2884634491","https://openalex.org/W2942886183","https://openalex.org/W2979823238","https://openalex.org/W2990385631","https://openalex.org/W2990802528","https://openalex.org/W3114087848","https://openalex.org/W3117590843","https://openalex.org/W3117877147","https://openalex.org/W3198148025","https://openalex.org/W3206872702","https://openalex.org/W3209044219","https://openalex.org/W3209274649","https://openalex.org/W4206264583","https://openalex.org/W4221167195","https://openalex.org/W4295719664"],"related_works":["https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W4310743282","https://openalex.org/W2743212448","https://openalex.org/W2889566344","https://openalex.org/W3113932901","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311"],"abstract_inverted_index":{"In":[0],"this":[1,130],"paper,":[2,131],"we":[3,132],"introduce":[4],"the":[5,33,37,51,76,79,96,102,149,158,162,176],"notion":[6],"of":[7,20,40,73,101,115,179],"Cooperative":[8,54],"Perception":[9,136],"Error":[10,137],"Models":[11,138],"(coPEMs)":[12],"towards":[13],"achieving":[14],"an":[15,166],"effective":[16],"and":[17,89,151],"efficient":[18],"integration":[19],"V2X":[21],"solutions":[22,57,146],"within":[23],"a":[24,112,119,170,180],"virtual":[25,120],"test":[26],"environment.":[27],"We":[28,156],"focus":[29],"our":[30],"analysis":[31],"on":[32,50,59,106,134],"occlusion":[34,174],"problem":[35],"in":[36,95,118,129],"(onboard)":[38],"perception":[39,55,145],"Autonomous":[41],"Vehicles":[42],"(AV),":[43],"which":[44],"can":[45],"manifest":[46],"as":[47,99],"misdetection":[48],"errors":[49,150],"occluded":[52],"objects.":[53],"(CP)":[56],"based":[58],"Vehicle-to-Everything":[60],"(V2X)":[61],"communications":[62],"aim":[63],"to":[64,91,140],"avoid":[65],"such":[66,143],"issues":[67],"by":[68,160,165],"cooperatively":[69],"leveraging":[70],"additional":[71],"points":[72],"view":[74],"for":[75],"world":[77],"around":[78],"AV.":[80],"This":[81],"approach":[82,159],"usually":[83],"requires":[84],"many":[85],"sensors,":[86],"mainly":[87],"cameras":[88],"LiDARs,":[90],"be":[92],"deployed":[93],"simultaneously":[94],"environment":[97],"either":[98],"part":[100],"road":[103],"infrastructure":[104],"or":[105],"other":[107],"traffic":[108,171],"vehicles.":[109],"However,":[110],"implementing":[111],"large":[113],"number":[114],"sensor":[116],"models":[117],"simulation":[121],"pipeline":[122],"is":[123,175],"often":[124],"prohibitively":[125],"computationally":[126],"expensive.":[127],"Therefore,":[128],"rely":[133],"extending":[135],"(PEMs)":[139],"efficiently":[141],"implement":[142],"cooperative":[144],"along":[147],"with":[148,154,169],"uncertainties":[152],"associated":[153],"them.":[155],"demonstrate":[157],"comparing":[161],"safety":[163],"achievable":[164],"AV":[167],"challenged":[168],"scenario":[172],"where":[173],"primary":[177],"cause":[178],"potential":[181],"collision.":[182]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
