# Towards Full-scene Domain Generalization in Multi-agent Collaborative Bird's Eye View Segmentation for Connected and Autonomous Driving

arXiv: https://arxiv.org/abs/2311.16754 · HTML: https://mlsanity.com/paper/2311.16754/

## Key facts

- Cited by 9 papers in the map (data through 14 Oct 2026).
- Builds on 25 of its 35 references that are in the map.
- First posted on arXiv 28 Nov 2023.

## Builds on (most cited first, 25 of 25)

- [Model-Agnostic Meta-Learning for Fast Adaptation of Deep Networks](https://mlsanity.com/paper/1703.03400/) (2017)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [Domain Generalization: A Survey](https://mlsanity.com/paper/2103.02503/) (2021)
- [Unpaired Image-to-Image Translation using Cycle-Consistent Adversarial Networks](https://mlsanity.com/paper/1703.10593/) (2017)
- [Domain Generalization with MixStyle](https://mlsanity.com/paper/2104.02008/) (2021)
- [FDA: Fourier Domain Adaptation for Semantic Segmentation](https://mlsanity.com/paper/2004.05498/) (2020)
- [Generalizing to Unseen Domains via Adversarial Data Augmentation](https://mlsanity.com/paper/1805.12018/) (2018)
- [V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformer](https://mlsanity.com/paper/2203.10638/) (2022)
- [OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communication](https://mlsanity.com/paper/2109.07644/) (2021)
- [V2VNet: Vehicle-to-Vehicle Communication for Joint Perception and Prediction](https://mlsanity.com/paper/2008.07519/) (2020)
- [Cross-view Transformers for real-time Map-view Semantic Segmentation](https://mlsanity.com/paper/2205.02833/) (2022)
- [Where2comm: Communication-Efficient Collaborative Perception via Spatial Confidence Maps](https://mlsanity.com/paper/2209.12836/) (2022)
- [Episodic Training for Domain Generalization](https://mlsanity.com/paper/1902.00113/) (2019)
- [CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformers](https://mlsanity.com/paper/2207.02202/) (2022)
- [Learning Distilled Collaboration Graph for Multi-Agent Perception](https://mlsanity.com/paper/2111.00643/) (2021)
- [Cooper: Cooperative Perception for Connected Autonomous Vehicles based on 3D Point Clouds](https://mlsanity.com/paper/1905.05265/) (2019)
- [When2com: Multi-Agent Perception via Communication Graph Grouping](https://mlsanity.com/paper/2006.00176/) (2020)
- [V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Driving](https://mlsanity.com/paper/2202.08449/) (2022)
- [Feature-Critic Networks for Heterogeneous Domain Generalization](https://mlsanity.com/paper/1901.11448/) (2019)
- [Who2com: Collaborative Perception via Learnable Handshake Communication](https://mlsanity.com/paper/2003.09575/) (2020)
- [Cross-Domain Car Detection Using Unsupervised Image-to-Image Translation: From Day to Night](https://mlsanity.com/paper/1907.08719/) (2019)
- [Adaptive Communications in Collaborative Perception with Domain Alignment for Autonomous Driving](https://mlsanity.com/paper/2310.00013/) (2023)
- [Vehicle as a Service (VaaS): Leverage Vehicles to Build Service Networks and Capabilities for Smart Cities](https://mlsanity.com/paper/2304.11397/) (2023)
- [Domain Adaptation based Object Detection for Autonomous Driving in Foggy and Rainy Weather](https://mlsanity.com/paper/2307.09676/) (2023)

## Built on by (most cited first, 9 of 9)

- [AgentsCoDriver: Large Language Model Empowered Collaborative Driving with Lifelong Learning](https://mlsanity.com/paper/2404.06345/) (2024)
- [Collaborative Perception for Connected and Autonomous Driving: Challenges, Possible Solutions and Opportunities](https://mlsanity.com/paper/2401.01544/) (2024)
- [AgentsCoMerge: Large Language Model Empowered Collaborative Decision Making for Ramp Merging](https://mlsanity.com/paper/2408.03624/) (2024)
- [SatFed: A Resource-Efficient LEO Satellite-Assisted Heterogeneous Federated Learning Framework](https://mlsanity.com/paper/2409.13503/) (2024)
- [IC3M: In-Car Multimodal Multi-object Monitoring for Abnormal Status of Both Driver and Passengers](https://mlsanity.com/paper/2410.02592/) (2024)
- [Directed-CP: Directed Collaborative Perception for Connected and Autonomous Vehicles via Proactive Attention](https://mlsanity.com/paper/2409.08840/) (2024)
- [SmartCooper: Vehicular Collaborative Perception with Adaptive Fusion and Judger Mechanism](https://mlsanity.com/paper/2402.00321/) (2024)
- [GCP: Guarded Collaborative Perception with Spatial-Temporal Aware Malicious Agent Detection](https://mlsanity.com/paper/2501.02450/) (2025)
- [Channel-Aware Throughput Maximization for Cooperative Data Fusion in CAV](https://mlsanity.com/paper/2410.04320/) (2024)

## Abstract (arXiv)

Collaborative perception has recently gained significant attention in autonomous driving, improving perception quality by enabling the exchange of additional information among vehicles. However, deploying collaborative perception systems can lead to domain shifts due to diverse environmental conditions and data heterogeneity among connected and autonomous vehicles (CAVs). To address these challenges, we propose a unified domain generalization framework to be utilized during the training and inference stages of collaborative perception. In the training phase, we introduce an Amplitude Augmentation (AmpAug) method to augment low-frequency image variations, broadening the model's ability to learn across multiple domains. We also employ a meta-consistency training scheme to simulate domain shifts, optimizing the model with a carefully designed consistency loss to acquire domain-invariant representations. In the inference phase, we introduce an intra-system domain alignment mechanism to reduce or potentially eliminate the domain discrepancy among CAVs prior to inference. Extensive experiments substantiate the effectiveness of our method in comparison with the existing state-of-the-art works.