The recent advancement in computational and communication systems has led to the introduction of high-performing neural networks and high-speed wireless vehicular communication networks. As a result, new technologies such as cooperative perception and cognition have emerged, addressing the inherent limitations of sensory devices by providing solutions for the detection of partially occluded targets and expanding the sensing range. However, designing a reliable cooperative cognition or perception system requires addressing the challenges caused by limited network resources and discrepancies between the data shared by different sources. We examine the requirements, limitations, and performance of different cooperative perception techniques, and present an in-depth analysis of the notion of Deep Feature Sharing (DFS). We explore different cooperative object detection designs and evaluate their performance in terms of average precision. We use the Volony dataset for our experimental study. The results confirm that the DFS methods are significantly less sensitive to the localization error caused by GPS noise. Furthermore, the results attest that detection gain of DFS methods caused by adding more cooperative participants in the scenes is comparable to raw information sharing technique while DFS enables flexibility in design toward satisfying communication requirements. Furthermore, in the environments where there is noise in GPS positioning estimates, cooperative perception performance will decrease. To alleviate the performance decrease we introduce a method to estimate the relative positioning of cooperative vehicles by comparing feature maps extracted from LIDAR observations of the cooperative vehicles. The results show that GPS positioning estimates of all participating vehicles will be improved as the number of cooperative vehicles increases in the scene.
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Pourmohammadi Fallah, Yaser
Doctor of Philosophy (Ph.D.)
College of Engineering and Computer Science
Length of Campus-only Access
Doctoral Dissertation (Campus-only Access)
Emad Marvasti, Ehsan, "Deep Feature Sharing for Cooperative Cognition and Perception Using LIDAR Sensors" (2021). Electronic Theses and Dissertations, 2020-. 859.