Calibration-Free Roadside BEV Perception with V2X-Enabled Vehicle Position Assistance
Roadside bird’s eye view (BEV) perception can enhance the comprehensive environmental awareness required for autonomous driving systems. Current approaches typically concentrate on BEV perception from the perspective of the vehicle, requiring precise camera calibration or depth estimation, leading t...
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| Format: | Article |
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MDPI AG
2025-06-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/25/13/3919 |
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| author | Wei Zhang Yilin Gao Zhiyuan Jiang Ruiqing Mao Sheng Zhou |
| author_facet | Wei Zhang Yilin Gao Zhiyuan Jiang Ruiqing Mao Sheng Zhou |
| author_sort | Wei Zhang |
| collection | DOAJ |
| description | Roadside bird’s eye view (BEV) perception can enhance the comprehensive environmental awareness required for autonomous driving systems. Current approaches typically concentrate on BEV perception from the perspective of the vehicle, requiring precise camera calibration or depth estimation, leading to potential inaccuracies. We introduce a calibration-free roadside BEV perception architecture, which utilizes elevated roadside cameras in conjunction with the vehicle position transmitted via cellular vehicle-to-everything (C-V2X) independently of camera calibration parameters. To enhance robustness against practical issues such as V2X communication delay, packet loss, and positioning noise, we simulate real-world uncertainties by injecting random noise into the coordinate input and varying the proportion of vehicles providing location data. Experiments on the DAIR-V2X dataset demonstrate that the architecture achieves superior performance compared to calibration-based and calibration-free baselines, highlighting its effectiveness in roadside BEV perception. |
| format | Article |
| id | doaj-art-9c299668529141e2bcb3b6797bea75cd |
| institution | OA Journals |
| issn | 1424-8220 |
| language | English |
| publishDate | 2025-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj-art-9c299668529141e2bcb3b6797bea75cd2025-08-20T02:36:31ZengMDPI AGSensors1424-82202025-06-012513391910.3390/s25133919Calibration-Free Roadside BEV Perception with V2X-Enabled Vehicle Position AssistanceWei Zhang0Yilin Gao1Zhiyuan Jiang2Ruiqing Mao3Sheng Zhou4Information and Communication Engineering, Shanghai University, Shanghai 200444, ChinaInformation and Communication Engineering, Shanghai University, Shanghai 200444, ChinaInformation and Communication Engineering, Shanghai University, Shanghai 200444, ChinaElectronic Engineering, Tsinghua University, Beijing 100190, ChinaElectronic Engineering, Tsinghua University, Beijing 100190, ChinaRoadside bird’s eye view (BEV) perception can enhance the comprehensive environmental awareness required for autonomous driving systems. Current approaches typically concentrate on BEV perception from the perspective of the vehicle, requiring precise camera calibration or depth estimation, leading to potential inaccuracies. We introduce a calibration-free roadside BEV perception architecture, which utilizes elevated roadside cameras in conjunction with the vehicle position transmitted via cellular vehicle-to-everything (C-V2X) independently of camera calibration parameters. To enhance robustness against practical issues such as V2X communication delay, packet loss, and positioning noise, we simulate real-world uncertainties by injecting random noise into the coordinate input and varying the proportion of vehicles providing location data. Experiments on the DAIR-V2X dataset demonstrate that the architecture achieves superior performance compared to calibration-based and calibration-free baselines, highlighting its effectiveness in roadside BEV perception.https://www.mdpi.com/1424-8220/25/13/3919cellular-V2X (C-V2X)roadside bird’s eye view (BEV) perceptioncalibration-free perception |
| spellingShingle | Wei Zhang Yilin Gao Zhiyuan Jiang Ruiqing Mao Sheng Zhou Calibration-Free Roadside BEV Perception with V2X-Enabled Vehicle Position Assistance Sensors cellular-V2X (C-V2X) roadside bird’s eye view (BEV) perception calibration-free perception |
| title | Calibration-Free Roadside BEV Perception with V2X-Enabled Vehicle Position Assistance |
| title_full | Calibration-Free Roadside BEV Perception with V2X-Enabled Vehicle Position Assistance |
| title_fullStr | Calibration-Free Roadside BEV Perception with V2X-Enabled Vehicle Position Assistance |
| title_full_unstemmed | Calibration-Free Roadside BEV Perception with V2X-Enabled Vehicle Position Assistance |
| title_short | Calibration-Free Roadside BEV Perception with V2X-Enabled Vehicle Position Assistance |
| title_sort | calibration free roadside bev perception with v2x enabled vehicle position assistance |
| topic | cellular-V2X (C-V2X) roadside bird’s eye view (BEV) perception calibration-free perception |
| url | https://www.mdpi.com/1424-8220/25/13/3919 |
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