# Federated Learning with Heterogeneous Data Handling for Robust Vehicular Object Detection

arXiv: https://arxiv.org/abs/2405.01108 · HTML: https://mlsanity.com/paper/2405.01108/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 18 of its 26 references that are in the map.
- First posted on arXiv 2 May 2024.

## Builds on (most cited first, 18 of 18)

- [Communication-Efficient Learning of Deep Networks from Decentralized Data](https://mlsanity.com/paper/1602.05629/) (2016)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [Advances and Open Problems in Federated Learning](https://mlsanity.com/paper/1912.04977/) (2019)
- [Federated Optimization in Heterogeneous Networks](https://mlsanity.com/paper/1812.06127/) (2018)
- [Generalized Intersection over Union: A Metric and A Loss for Bounding Box Regression](https://mlsanity.com/paper/1902.09630/) (2019)
- [On the Convergence of FedAvg on Non-IID Data](https://mlsanity.com/paper/1907.02189/) (2019)
- [Federated Learning with Non-IID Data](https://mlsanity.com/paper/1806.00582/) (2018)
- [Tackling the Objective Inconsistency Problem in Heterogeneous Federated Optimization](https://mlsanity.com/paper/2007.07481/) (2020)
- [Measuring the Effects of Non-Identical Data Distribution for Federated Visual Classification](https://mlsanity.com/paper/1909.06335/) (2019)
- [Model-Contrastive Federated Learning](https://mlsanity.com/paper/2103.16257/) (2021)
- [Federated Learning on Non-IID Data Silos: An Experimental Study](https://mlsanity.com/paper/2102.02079/) (2021)
- [EMNIST: an extension of MNIST to handwritten letters](https://mlsanity.com/paper/1702.05373/) (2017)
- [Heterogeneous Federated Learning: State-of-the-art and Research Challenges](https://mlsanity.com/paper/2307.10616/) (2023)
- [Federated Learning: Opportunities and Challenges](https://mlsanity.com/paper/2101.05428/) (2021)
- [Computing Systems for Autonomous Driving: State-of-the-Art and Challenges](https://mlsanity.com/paper/2009.14349/) (2020)
- [Rethinking Data Heterogeneity in Federated Learning: Introducing a New Notion and Standard Benchmarks](https://mlsanity.com/paper/2209.15595/) (2022)
- [On Out-of-distribution Detection with Energy-based Models](https://mlsanity.com/paper/2107.08785/) (2021)
- [Resource Constrained Vehicular Edge Federated Learning with Highly Mobile Connected Vehicles](https://mlsanity.com/paper/2210.15496/) (2022)

## Built on by (most cited first, 2 of 2)

- [FedPylot: Navigating Federated Learning for Real-Time Object Detection in Internet of Vehicles](https://mlsanity.com/paper/2406.03611/) (2024)
- [Enabling Federated Object Detection for Connected Autonomous Vehicles: A Deployment-Oriented Evaluation](https://mlsanity.com/paper/2509.01868/) (2025)

## Abstract (arXiv)

In the pursuit of refining precise perception models for fully autonomous driving, continual online model training becomes essential. Federated Learning (FL) within vehicular networks offers an efficient mechanism for model training while preserving raw sensory data integrity. Yet, FL struggles with non-identically distributed data (e.g., quantity skew), leading to suboptimal convergence rates during model training. In previous work, we introduced FedLA, an innovative Label-Aware aggregation method addressing data heterogeneity in FL for generic scenarios. In this paper, we introduce FedProx+LA, a novel FL method building upon the state-of-the-art FedProx and FedLA to tackle data heterogeneity, which is specifically tailored for vehicular networks. We evaluate the efficacy of FedProx+LA in continuous online object detection model training. Through a comparative analysis against conventional and state-of-the-art methods, our findings reveal the superior convergence rate of FedProx+LA. Notably, if the label distribution is very heterogeneous, our FedProx+LA approach shows substantial improvements in detection performance compared to baseline methods, also outperforming our previous FedLA approach. Moreover, both FedLA and FedProx+LA increase convergence speed by 30% compared to baseline methods.