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Cooperative Saliency-based Obstacle Detection and AR Rendering for Increased Situational Awareness

arXiv 2302.00916 ↗First posted 2 Feb 2023cs.CV eess.IVcited by 0

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Abstract (arXiv)

Autonomous vehicles are expected to operate safely in real-life road conditions in the next years. Nevertheless, unanticipated events such as the existence of unexpected objects in the range of the road, can put safety at risk. The advancement of sensing and communication technologies and Internet of Things may facilitate the recognition of hazardous situations and information exchange in a cooperative driving scheme, providing new opportunities for the increase of collaborative situational awareness. Safe and unobtrusive visualization of the obtained information may nowadays be enabled through the adoption of novel Augmented Reality (AR) interfaces in the form of windshields. Motivated by these technological opportunities, we propose in this work a saliency-based distributed, cooperative obstacle detection and rendering scheme for increasing the driver's situational awareness through (i) automated obstacle detection, (ii) AR visualization and (iii) information sharing (upcoming potential dangers) with other connected vehicles or road infrastructure. An extensive evaluation study using a variety of real datasets for pothole detection showed that the proposed method provides favorable results and features compared to other recent and relevant approaches.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 16 of its 70 references that are in the map. First posted on arXiv 2 Feb 2023.

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16 of 70 references.

References · 16

  1. 2017CARLA: An Open Urban Driving Simulatorcited by 2,449
  2. 2021OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communicationcited by 304
  3. 2020V2VNet: Vehicle-to-Vehicle Communication for Joint Perception and Predictioncited by 292
  4. 2019F-Cooper: Feature based Cooperative Perception for Autonomous Vehicle Edge Computing System Using 3D Point Cloudscited by 171
  5. 2019Cooper: Cooperative Perception for Connected Autonomous Vehicles based on 3D Point Cloudscited by 165
  6. 2020When2com: Multi-Agent Perception via Communication Graph Groupingcited by 157
  7. 2019Cooperative Perception for 3D Object Detection in Driving Scenarios using Infrastructure Sensorscited by 110
  8. 2019Feature Pyramid and Hierarchical Boosting Network for Pavement Crack Detectioncited by 80
  9. 2018Road Damage Detection Using Deep Neural Networks with Images Captured Through a Smartphonecited by 45
  10. 2021Keypoints-Based Deep Feature Fusion for Cooperative Vehicle Detection of Autonomous Drivingcited by 45
  11. 2019Pothole Detection Based on Disparity Transformation and Road Surface Modelingcited by 38
  12. 2018Road surface 3d reconstruction based on dense subpixel disparity map estimationcited by 34
4 more
  1. 2020Rethinking Road Surface 3D Reconstruction and Pothole Detection: From Perspective Transformation to Disparity Map Segmentationcited by 27
  2. 2019Road Damage Detection Based on Unsupervised Disparity Map Segmentationcited by 24
  3. 2020CoFF: Cooperative Spatial Feature Fusion for 3D Object Detection on Autonomous Vehiclescited by 16
  4. 2020Vehicle Telematics Via Exteroceptive Sensors: A Surveycited by 2

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