UMC

UMC: A Unified Bandwidth-efficient and Multi-resolution based Collaborative Perception Framework

Tianhang Wang, Guang Chen†, Kai Chen, Zhengfa Liu, Bo Zhang, Alois Knoll, Changjun Jiang

Paper (arXiv) | Paper (ICCV) | Project Page | Video | Talk | Slides | Poster

Table of Contents

1. Changelog
2. Introduction
3. Get Started
4. Datasets
5. Pretrained Model
6. Visualization
7. Citation
8. Acknowledgements

Changelog

• 2023-8-10: We release the project page.
• 2023-7-14: This paper is accepted by ICCV 2023 🎉🎉.

Introduction

• This repository is the PyTorch implementation under for UMC.

• We aim to propose a Unified Collaborative perception framework named UMC, optimizing the communication, collaboration, and reconstruction processes with the Multi-resolution technique.

• The communication introduces a novel trainable multi-resolution and selective-region (MRSR) mechanism, achieving higher quality and lower bandwidth. Then, a graph-based collaboration is proposed, conducting on each resolution to adapt the MRSR. Finally, the reconstruction integrates the multi-resolution collaborative features for downstream tasks.

Get Started

• Our code is build on DiscoNet, please kindly refer it for more details.

Datasets

Pretrained Model

V2X-Sim dataset

• UMC: Pretrained Model: BaiduYun[Code: erhg] | Google Drive; Detection Results: BaiduYun | Google Drive

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• GCGRU Pretrained Model: BaiduYun[Code: jinj] | Google Drive; Detection Results: BaiduYun | Google Drive

• EntropyCS_GCGRU Pretrained Model: BaiduYun[Code: ssye] | Google Drive; Detection Results: BaiduYun | Google Drive

• MGFE_GCGRU Pretrained Model: BaiduYun[Code: x6b7] | Google Drive; Detection Results: BaiduYun | Google Drive

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• UMC_GrainSelection_1_3 Pretrained Model: BaiduYun[Code: 5ngb] | Google Drive; Detection Results: BaiduYun | Google Drive

• UMC_GrainSelection_2_3 Pretrained Model: BaiduYun[Code: mya8] | Google Drive; Detection Results: BaiduYun | Google Drive

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OPV2V dataset

• UMC Pretrained Model: BaiduYun[Code: x2y2] | Google Drive; Detection Results: BaiduYun | Google Drive

Visualization

• Detection and communication selection for Agent 1. The green and red boxes represent the ground truth (GT) and predictions, respectively. (a-c) shows the results of no fusion, early fusion, and UMC compared to GT. (d) The coarse-grained collaborative feature of Agent 1. (e) Matrix-valued entropy-based selected communication coarse-grained feature map from Agent 2. (f) The fine-grained collaborative feature of Agent 1. (g) Matrix-valued entropy-based selected communication fine-grained feature map from Agent 2.

• UMC qualitatively outperforms the state-of-the-art methods. The green and red boxes denote ground truth and detection, respectively. (a) Results of When2com. (b) Results of DiscoNet. (c) Results of UMC. (d)-(e) Agent 1's coarse-grained and fine-grained collaborative feature maps, respectively.

• Detection results of UMC, Early Fusion, When2com, V2VNet and DiscoNet on V2X-Sim dataset.

• Detection results of UMC, Early Fusion, Where2comm, V2VNet and DiscoNet on OPV2V dataset.

Citation

If you find our code or paper useful, please cite

@inproceedings{wang2023umc,
  title     = {UMC: A Unified Bandwidth-efficient and Multi-resolution based Collaborative Perception Framework},
  author    = {Tianhang, Wang and Guang, Chen and Kai, Chen and Zhengfa, Liu, Bo, Zhang, Alois, Knoll, Changjun, Jiang},
  booktitle = {Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV)},
  year      = {2023}
  }

Acknowledgements

• We thanks for the following wonderful open source codes: