{"id":"https://openalex.org/W7133489334","doi":"https://doi.org/10.48550/arxiv.2603.02532","title":"EIMC: Efficient Instance-aware Multi-modal Collaborative Perception","display_name":"EIMC: Efficient Instance-aware Multi-modal Collaborative Perception","publication_year":2026,"publication_date":"2026-03-03","ids":{"openalex":"https://openalex.org/W7133489334","doi":"https://doi.org/10.48550/arxiv.2603.02532"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.02532","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.02532","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,"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"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.02532","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128115865","display_name":"Kang Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Kang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128099464","display_name":"Peng Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Peng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022816849","display_name":"Lantao Li","orcid":"https://orcid.org/0000-0002-0257-7159"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Lantao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108862689","display_name":"Tianci Bu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bu, Tianci","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128041734","display_name":"Chen Sun","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sun, Chen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128068375","display_name":"Deying Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Deying","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5128062664","display_name":"Yongcai Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Yongcai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.5266000032424927,"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"}},"topics":[{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.5266000032424927,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.09520000219345093,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.06909999996423721,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/byte","display_name":"Byte","score":0.6725000143051147},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.6194999814033508},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5367000102996826},{"id":"https://openalex.org/keywords/collaborative-learning","display_name":"Collaborative learning","score":0.49729999899864197},{"id":"https://openalex.org/keywords/collaborative-software","display_name":"Collaborative software","score":0.4846000075340271},{"id":"https://openalex.org/keywords/protocol","display_name":"Protocol (science)","score":0.46959999203681946},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.4129999876022339},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.390500009059906}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7815999984741211},{"id":"https://openalex.org/C43364308","wikidata":"https://www.wikidata.org/wiki/Q8799","display_name":"Byte","level":2,"score":0.6725000143051147},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.6194999814033508},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5367000102996826},{"id":"https://openalex.org/C138020889","wikidata":"https://www.wikidata.org/wiki/Q2349659","display_name":"Collaborative learning","level":2,"score":0.49729999899864197},{"id":"https://openalex.org/C554579003","wikidata":"https://www.wikidata.org/wiki/Q474157","display_name":"Collaborative software","level":2,"score":0.4846000075340271},{"id":"https://openalex.org/C2780385302","wikidata":"https://www.wikidata.org/wiki/Q367158","display_name":"Protocol (science)","level":3,"score":0.46959999203681946},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.4129999876022339},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.390500009059906},{"id":"https://openalex.org/C55282118","wikidata":"https://www.wikidata.org/wiki/Q252683","display_name":"Snapshot (computer storage)","level":2,"score":0.3783999979496002},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3644999861717224},{"id":"https://openalex.org/C2780967703","wikidata":"https://www.wikidata.org/wiki/Q2571389","display_name":"Collaborative editing","level":2,"score":0.36390000581741333},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.33079999685287476},{"id":"https://openalex.org/C2779017730","wikidata":"https://www.wikidata.org/wiki/Q5145845","display_name":"Collaborative model","level":2,"score":0.32829999923706055},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.31859999895095825},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3075999915599823},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.2971999943256378},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.29100000858306885},{"id":"https://openalex.org/C559553711","wikidata":"https://www.wikidata.org/wiki/Q1145523","display_name":"Collaboration","level":2,"score":0.28600001335144043},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.28029999136924744},{"id":"https://openalex.org/C83665646","wikidata":"https://www.wikidata.org/wiki/Q42139305","display_name":"Feature vector","level":2,"score":0.26100000739097595},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.25949999690055847},{"id":"https://openalex.org/C51632099","wikidata":"https://www.wikidata.org/wiki/Q3985153","display_name":"Training set","level":2,"score":0.25459998846054077},{"id":"https://openalex.org/C7545210","wikidata":"https://www.wikidata.org/wiki/Q838123","display_name":"Data redundancy","level":2,"score":0.2533000111579895},{"id":"https://openalex.org/C2779965156","wikidata":"https://www.wikidata.org/wiki/Q5227350","display_name":"Data sharing","level":3,"score":0.2502000033855438}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.02532","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.02532","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,"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":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.02532","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.02532","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,"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"},"sustainable_development_goals":[{"display_name":"Partnerships for the goals","id":"https://metadata.un.org/sdg/17","score":0.4523774981498718}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Multi-modal":[0],"collaborative":[1,41,48,53,70,172],"perception":[2],"calls":[3],"for":[4,111],"great":[5],"attention":[6],"to":[7,22,34],"enhancing":[8,131],"the":[9,60,93,122,168],"safety":[10],"of":[11],"autonomous":[12],"driving.":[13],"However,":[14],"current":[15],"multi-modal":[16,27,171],"approaches":[17],"remain":[18],"a":[19,77,116],"``local":[20],"fusion":[21,118],"communication''":[23],"sequence,":[24],"which":[25],"fuses":[26],"data":[28,39],"locally":[29],"and":[30,130,153],"needs":[31],"high":[32],"bandwidth":[33,162],"transmit":[35],"an":[36,46],"individual's":[37],"feature":[38],"before":[40],"fusion.":[42],"EIMC":[43,155],"innovatively":[44],"proposes":[45],"early":[47],"paradigm.":[49],"It":[50],"injects":[51],"lightweight":[52],"voxels,":[54],"transmitted":[55],"by":[56,87,164],"neighbor":[57],"agents,":[58],"into":[59],"ego's":[61],"local":[62],"modality-fusion":[63],"step,":[64],"yielding":[65],"compact":[66],"yet":[67],"informative":[68],"3D":[69],"priors":[71],"that":[72,119,144],"tighten":[73],"cross-modal":[74],"alignment.":[75],"Next,":[76],"heatmap-driven":[78],"consensus":[79],"protocol":[80],"identifies":[81],"exactly":[82],"where":[83],"cooperation":[84],"is":[85],"needed":[86],"computing":[88],"per-pixel":[89],"confidence":[90],"heatmaps.":[91],"Only":[92],"Top-K":[94],"instance":[95],"vectors":[96],"located":[97],"in":[98],"these":[99],"low-confidence,":[100],"high-discrepancy":[101],"regions":[102],"are":[103,148],"queried":[104],"from":[105,127],"peers,":[106],"then":[107],"fused":[108],"via":[109],"cross-attention":[110],"completion.":[112],"Afterwards,":[113],"we":[114],"apply":[115],"refinement":[117],"involves":[120],"collecting":[121],"top-K":[123],"most":[124],"confident":[125],"instances":[126],"each":[128],"agent":[129],"their":[132],"features":[133],"using":[134],"self-attention.":[135],"The":[136],"above":[137],"instance-centric":[138],"messaging":[139],"reduces":[140],"redundancy":[141],"while":[142,159],"guaranteeing":[143],"critical":[145],"occluded":[146],"objects":[147],"recovered.":[149],"Evaluated":[150],"on":[151],"OPV2V":[152],"DAIR-V2X,":[154],"attains":[156],"73.01\\%":[157],"AP@0.5":[158],"reducing":[160],"byte":[161],"usage":[163],"87.98\\%":[165],"compared":[166],"with":[167],"best":[169],"published":[170],"detector.":[173],"Code":[174],"publicly":[175],"released":[176],"at":[177],"https://github.com/sidiangongyuan/EIMC.":[178]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-03-05T00:00:00"}
