MSight: コネクテッド自動運転車向けエッジクラウド基盤の路側知覚システム
MSight: An Edge-Cloud Infrastructure-based Perception System for Connected Automated Vehicles
路側センサとエッジクラウドを活用し、コネクテッド自動運転車向けに車両検出・位置推定・追跡・短期軌道予測をリアルタイムで行うシステムを開発し、実環境で運用評価した。
著者: Rusheng Zhang, Depu Meng, Shengyin Shen, Zhengxia Zou, Houqiang Li, Henry X. Liu
分類: cs.CV, cs.RO, eess.IV
原文アブストラクト
As vehicular communication and networking technologies continue to advance, infrastructure-based roadside perception emerges as a pivotal tool for connected automated vehicle (CAV) applications. Due to their elevated positioning, roadside sensors, including cameras and lidars, often enjoy unobstructed views with diminished object occlusion. This provides them a distinct advantage over onboard perception, enabling more robust and accurate detection of road objects. This paper presents MSight, a cutting-edge roadside perception system specifically designed for CAVs. MSight offers real-time vehicle detection, localization, tracking, and short-term trajectory prediction. Evaluations underscore the system's capability to uphold lane-level accuracy with minimal latency, revealing a range of potential applications to enhance CAV safety and efficiency. Presently, MSight operates 24/7 at a two-lane roundabout in the City of Ann Arbor, Michigan.
