Abstract:
Connected vehicles can benefit from sharing and merging their observations to develop a more complete understanding of the traffic scene and track traffic participants be...Show MoreMetadata
Abstract:
Connected vehicles can benefit from sharing and merging their observations to develop a more complete understanding of the traffic scene and track traffic participants behind obstructions. Although vehicle-to-vehicle(V2V) communications provide a channel for point cloud data sharing, it is challenging to align point clouds from two vehicles with state-of-the-art techniques due to localization errors, visual obstructions, and differences in perspective. Therefore, we propose a two-phase point cloud registration mechanism to fuse point clouds which focuses on key objects in the scene where the point clouds are most similar and infer the transformation from those. Our system first identifies co-visible objects between vehicle views based on hyper-graph matching using multiple similarity metrics, and then refines the overlap region between co-visible objects across the views for point cloud registration. The system is evaluated based on both experimental and simulation data, which shows tremendous performance improvement when combing with state-of-art baselines.
Published in: IEEE Open Journal of Vehicular Technology ( Volume: 3)
Funding Agency:
Wireless Information Network Laboratory(WINLAB), Rutgers University, North Brunswick Township, NJ, USA
Hongyu Li received the B.S. degree in computer science from Harbin Engineering University, Harbin, China, in 2011 and the M.S. degree in computer science from the University of Chinese Academy of Sciences, Bejing, China, in 2014. He is currently working toward the Ph.D. degree with the Department of Computer Science, Rutgers University, New Brunswick, NJ, USA. He conducts research in Wireless Information Network Laborator...Show More
Hongyu Li received the B.S. degree in computer science from Harbin Engineering University, Harbin, China, in 2011 and the M.S. degree in computer science from the University of Chinese Academy of Sciences, Bejing, China, in 2014. He is currently working toward the Ph.D. degree with the Department of Computer Science, Rutgers University, New Brunswick, NJ, USA. He conducts research in Wireless Information Network Laborator...View more
Wireless Information Network Laboratory(WINLAB), Rutgers University, North Brunswick Township, NJ, USA
Hansi Liu (Student Member, IEEE) received the M.S. degree in 2018 from Rutgers University, New Brunswick, NJ, USA, where he is currently working toward the Ph.D. degree with Wireless Information Network Laboratory (WINLAB), Department of Electrical and Computer Engineering. His research interests include mobile computing and computer vision, with a special focus on collaborative perception, multi-modal sensing and localiz...Show More
Hansi Liu (Student Member, IEEE) received the M.S. degree in 2018 from Rutgers University, New Brunswick, NJ, USA, where he is currently working toward the Ph.D. degree with Wireless Information Network Laboratory (WINLAB), Department of Electrical and Computer Engineering. His research interests include mobile computing and computer vision, with a special focus on collaborative perception, multi-modal sensing and localiz...View more
Toyota Motor North America, Inc., R&D InfoTech Labs, Mountain View, CA, USA
Hongsheng Lu received the bachelor’s and master’s degrees in electrical engineering from Beihang University, Beijing, China, in 2006 and 2009, respectively, and the Ph.D. degree in computer science and engineering from the University of Notre Dame, Notre Dame, IN, USA, in 2015. He is currently a Principal Researcher with Toyota Motor North America Research and Development - InfoTech Laboratories. His research interests in...Show More
Hongsheng Lu received the bachelor’s and master’s degrees in electrical engineering from Beihang University, Beijing, China, in 2006 and 2009, respectively, and the Ph.D. degree in computer science and engineering from the University of Notre Dame, Notre Dame, IN, USA, in 2015. He is currently a Principal Researcher with Toyota Motor North America Research and Development - InfoTech Laboratories. His research interests in...View more
Toyota Motor North America, Inc., R&D InfoTech Labs, Mountain View, CA, USA
Bin Cheng received the Doctoral degree in electrical and computer engineering from Rutgers University, New Brunswick, NJ, USA, in 2019. After that, he joined Toyota InfoTech Laboratories, USA, as a Researcher. His primary research interests include channel congestion control and modeling for vehicular networks, collaborative perception for self-driving and connected vehicles. He was the Technical Program Committee Member ...Show More
Bin Cheng received the Doctoral degree in electrical and computer engineering from Rutgers University, New Brunswick, NJ, USA, in 2019. After that, he joined Toyota InfoTech Laboratories, USA, as a Researcher. His primary research interests include channel congestion control and modeling for vehicular networks, collaborative perception for self-driving and connected vehicles. He was the Technical Program Committee Member ...View more
Wireless Information Network Laboratory(WINLAB), Rutgers University, North Brunswick Township, NJ, USA
Marco Gruteser received the M.S. and Ph.D. degrees from the University of Colorado, Boulder, CO, USA, in 2000 and 2004, respectively. He held research and visiting positions with the IBM T. J. Watson Research Center and Carnegie Mellon University, Pittsburgh, PA, USA. He is currently a Professor of electrical and computer engineering and also computer science (by courtesy) with Wireless Information Network Laboratory (WIN...Show More
Marco Gruteser received the M.S. and Ph.D. degrees from the University of Colorado, Boulder, CO, USA, in 2000 and 2004, respectively. He held research and visiting positions with the IBM T. J. Watson Research Center and Carnegie Mellon University, Pittsburgh, PA, USA. He is currently a Professor of electrical and computer engineering and also computer science (by courtesy) with Wireless Information Network Laboratory (WIN...View more
Toyota Motor North America, Inc., R&D InfoTech Labs, Mountain View, CA, USA
Takayuki Shimizu received the B.E., M.E., and Ph.D. degrees from Doshisha University, Kyoto, Japan, in 2007, 2009, and 2012, respectively, where he studied physical-layer security exploiting multipath fading randomness in wireless communications. From 2009 to 2010, he was a Visiting Researcher with Stanford University, CA, USA. From 2012 to 2019, he was with TOYOTA InfoTechnology Center, USA, Inc. He is currently a Princi...Show More
Takayuki Shimizu received the B.E., M.E., and Ph.D. degrees from Doshisha University, Kyoto, Japan, in 2007, 2009, and 2012, respectively, where he studied physical-layer security exploiting multipath fading randomness in wireless communications. From 2009 to 2010, he was a Visiting Researcher with Stanford University, CA, USA. From 2012 to 2019, he was with TOYOTA InfoTechnology Center, USA, Inc. He is currently a Princi...View more
Contents Wireless Information Network Laboratory(WINLAB), Rutgers University, North Brunswick Township, NJ, USA
Hongyu Li received the B.S. degree in computer science from Harbin Engineering University, Harbin, China, in 2011 and the M.S. degree in computer science from the University of Chinese Academy of Sciences, Bejing, China, in 2014. He is currently working toward the Ph.D. degree with the Department of Computer Science, Rutgers University, New Brunswick, NJ, USA. He conducts research in Wireless Information Network Laboratory (WINLAB) and his current research interests is mobile computing with the special focus on driver behavior and vehicle dynamics sensing, cooperated sensing between vehicles.
Hongyu Li received the B.S. degree in computer science from Harbin Engineering University, Harbin, China, in 2011 and the M.S. degree in computer science from the University of Chinese Academy of Sciences, Bejing, China, in 2014. He is currently working toward the Ph.D. degree with the Department of Computer Science, Rutgers University, New Brunswick, NJ, USA. He conducts research in Wireless Information Network Laboratory (WINLAB) and his current research interests is mobile computing with the special focus on driver behavior and vehicle dynamics sensing, cooperated sensing between vehicles.View more
Wireless Information Network Laboratory(WINLAB), Rutgers University, North Brunswick Township, NJ, USA
Hansi Liu (Student Member, IEEE) received the M.S. degree in 2018 from Rutgers University, New Brunswick, NJ, USA, where he is currently working toward the Ph.D. degree with Wireless Information Network Laboratory (WINLAB), Department of Electrical and Computer Engineering. His research interests include mobile computing and computer vision, with a special focus on collaborative perception, multi-modal sensing and localization systems. He is currently exploring cross-modal sensing approaches to improve sensing range, efficiency, tracking and localization for collaborative perception systems via computer vision and wireless communication. Previously, he worked on topics of image retrieval and latent space representation.
Hansi Liu (Student Member, IEEE) received the M.S. degree in 2018 from Rutgers University, New Brunswick, NJ, USA, where he is currently working toward the Ph.D. degree with Wireless Information Network Laboratory (WINLAB), Department of Electrical and Computer Engineering. His research interests include mobile computing and computer vision, with a special focus on collaborative perception, multi-modal sensing and localization systems. He is currently exploring cross-modal sensing approaches to improve sensing range, efficiency, tracking and localization for collaborative perception systems via computer vision and wireless communication. Previously, he worked on topics of image retrieval and latent space representation.View more
Toyota Motor North America, Inc., R&D InfoTech Labs, Mountain View, CA, USA
Hongsheng Lu received the bachelor’s and master’s degrees in electrical engineering from Beihang University, Beijing, China, in 2006 and 2009, respectively, and the Ph.D. degree in computer science and engineering from the University of Notre Dame, Notre Dame, IN, USA, in 2015. He is currently a Principal Researcher with Toyota Motor North America Research and Development - InfoTech Laboratories. His research interests include connected and automated vehicle technology, building solutions to enable cooperative perception, and V2X-assisted sensor fusion. He was recognized for his contribution to DSRC congestion control and vehicle-to pedestrian communications. He represents Toyota with Standard Development Organizations and Industry Groups including ETSI and C2C-CC, and is the Vice-Chair of the SAE V2X Core Technical Committee. He is an invited Reviewer to several IEEE journals and many international ITS-related conferences.
Hongsheng Lu received the bachelor’s and master’s degrees in electrical engineering from Beihang University, Beijing, China, in 2006 and 2009, respectively, and the Ph.D. degree in computer science and engineering from the University of Notre Dame, Notre Dame, IN, USA, in 2015. He is currently a Principal Researcher with Toyota Motor North America Research and Development - InfoTech Laboratories. His research interests include connected and automated vehicle technology, building solutions to enable cooperative perception, and V2X-assisted sensor fusion. He was recognized for his contribution to DSRC congestion control and vehicle-to pedestrian communications. He represents Toyota with Standard Development Organizations and Industry Groups including ETSI and C2C-CC, and is the Vice-Chair of the SAE V2X Core Technical Committee. He is an invited Reviewer to several IEEE journals and many international ITS-related conferences.View more
Toyota Motor North America, Inc., R&D InfoTech Labs, Mountain View, CA, USA
Bin Cheng received the Doctoral degree in electrical and computer engineering from Rutgers University, New Brunswick, NJ, USA, in 2019. After that, he joined Toyota InfoTech Laboratories, USA, as a Researcher. His primary research interests include channel congestion control and modeling for vehicular networks, collaborative perception for self-driving and connected vehicles. He was the Technical Program Committee Member for multiple conferences and workshops, including IEEE VTC (Recent Results Track) 2018, 2019, 2022, IEEE ICUWB 2015, and a Reviewer for top-tier conferences and journals, including IEEE TITS, IEEE TMC, IEEE/ACM ToN, ACM TOSN, IEEE INFOCOM, IEEE WCNC, IEEE VTC, IEEE IV. Bin was the recipient of the Best Paper Award of IEEE Vehicular Networking Conference, 2019.
Bin Cheng received the Doctoral degree in electrical and computer engineering from Rutgers University, New Brunswick, NJ, USA, in 2019. After that, he joined Toyota InfoTech Laboratories, USA, as a Researcher. His primary research interests include channel congestion control and modeling for vehicular networks, collaborative perception for self-driving and connected vehicles. He was the Technical Program Committee Member for multiple conferences and workshops, including IEEE VTC (Recent Results Track) 2018, 2019, 2022, IEEE ICUWB 2015, and a Reviewer for top-tier conferences and journals, including IEEE TITS, IEEE TMC, IEEE/ACM ToN, ACM TOSN, IEEE INFOCOM, IEEE WCNC, IEEE VTC, IEEE IV. Bin was the recipient of the Best Paper Award of IEEE Vehicular Networking Conference, 2019.View more
Wireless Information Network Laboratory(WINLAB), Rutgers University, North Brunswick Township, NJ, USA
Marco Gruteser received the M.S. and Ph.D. degrees from the University of Colorado, Boulder, CO, USA, in 2000 and 2004, respectively. He held research and visiting positions with the IBM T. J. Watson Research Center and Carnegie Mellon University, Pittsburgh, PA, USA. He is currently a Professor of electrical and computer engineering and also computer science (by courtesy) with Wireless Information Network Laboratory (WINLAB), Rutgers University, New Brunswick, NJ, USA . He research interest include mobile computing, is a pioneer in the area of location privacy and recognized for his work on connected vehicles. He was the Program Co-Chair or Vice-Chair for conferences such as ACM MobiSys, ACM WiSec, IEEE VNC and IEEE Percom. He has delivered nine conference and workshop keynotes, was Panel Moderator at ACM MobiCom, and as a Panelist at ACM MobiSys, IEEE Infocom, and IEEE ICC. He was elected Treasurer and Member of the executive committee of ACM SIGMOBILE. He was the recipient of the NSF CAREER Award, a Rutgers Board of Trustees Research Fellowship for Scholarly Excellence, a Rutgers Outstanding Engineering Faculty Award, and also Best Paper Awards at ACM MobiCom 2012, ACM MobiCom 2011 and ACM MobiSys 2010. His work has been regularly featured in the media, including NPR, the New York Times, Fox News TV, and CNN TV. He is an ACM Distinguished Scientist.
Marco Gruteser received the M.S. and Ph.D. degrees from the University of Colorado, Boulder, CO, USA, in 2000 and 2004, respectively. He held research and visiting positions with the IBM T. J. Watson Research Center and Carnegie Mellon University, Pittsburgh, PA, USA. He is currently a Professor of electrical and computer engineering and also computer science (by courtesy) with Wireless Information Network Laboratory (WINLAB), Rutgers University, New Brunswick, NJ, USA . He research interest include mobile computing, is a pioneer in the area of location privacy and recognized for his work on connected vehicles. He was the Program Co-Chair or Vice-Chair for conferences such as ACM MobiSys, ACM WiSec, IEEE VNC and IEEE Percom. He has delivered nine conference and workshop keynotes, was Panel Moderator at ACM MobiCom, and as a Panelist at ACM MobiSys, IEEE Infocom, and IEEE ICC. He was elected Treasurer and Member of the executive committee of ACM SIGMOBILE. He was the recipient of the NSF CAREER Award, a Rutgers Board of Trustees Research Fellowship for Scholarly Excellence, a Rutgers Outstanding Engineering Faculty Award, and also Best Paper Awards at ACM MobiCom 2012, ACM MobiCom 2011 and ACM MobiSys 2010. His work has been regularly featured in the media, including NPR, the New York Times, Fox News TV, and CNN TV. He is an ACM Distinguished Scientist.View more
Toyota Motor North America, Inc., R&D InfoTech Labs, Mountain View, CA, USA
Takayuki Shimizu received the B.E., M.E., and Ph.D. degrees from Doshisha University, Kyoto, Japan, in 2007, 2009, and 2012, respectively, where he studied physical-layer security exploiting multipath fading randomness in wireless communications. From 2009 to 2010, he was a Visiting Researcher with Stanford University, CA, USA. From 2012 to 2019, he was with TOYOTA InfoTechnology Center, USA, Inc. He is currently a Principal Researcher with Toyota Motor North America, Inc., Research and Development InfoTech Laboratories where he works on the research and standardization of wireless vehicular communications. His research interests include millimeter-wave vehicular communications, vehicular communications for cooperative automated driving, and LTE/5G for vehicular applications. He is a 3GPP delegate for V2X standardization and a Member of several SAE Technical Committees for V2X. He was a Workshop Co-Chair for the 2018 Fall IEEE Vehicular Technology Conference. He is a Member of the IEICE. He was the recipient of the 2010 TELECOM System Technology Award for Student from the Telecommunications Advancement Foundation and the 2020 IEEE Vehicular Networking Conference Best Paper Award.
Takayuki Shimizu received the B.E., M.E., and Ph.D. degrees from Doshisha University, Kyoto, Japan, in 2007, 2009, and 2012, respectively, where he studied physical-layer security exploiting multipath fading randomness in wireless communications. From 2009 to 2010, he was a Visiting Researcher with Stanford University, CA, USA. From 2012 to 2019, he was with TOYOTA InfoTechnology Center, USA, Inc. He is currently a Principal Researcher with Toyota Motor North America, Inc., Research and Development InfoTech Laboratories where he works on the research and standardization of wireless vehicular communications. His research interests include millimeter-wave vehicular communications, vehicular communications for cooperative automated driving, and LTE/5G for vehicular applications. He is a 3GPP delegate for V2X standardization and a Member of several SAE Technical Committees for V2X. He was a Workshop Co-Chair for the 2018 Fall IEEE Vehicular Technology Conference. He is a Member of the IEICE. He was the recipient of the 2010 TELECOM System Technology Award for Student from the Telecommunications Advancement Foundation and the 2020 IEEE Vehicular Networking Conference Best Paper Award.View more