RC-GeoCP: Geometric Consensus for 4D Radar-Camera Collaborative Perception
Collaborative perception (CP) extends sensing range through feature sharing, but most systems remain LiDAR-centric. Camera and 4D radar sensing combines dense semantics with lower-cost range--velocity measurements, yet exploiting their complementarity across agents remains difficult. Camera depth ambiguity produces spatially diffuse BEV evidence, while sparse transmission couples the choice of evidence to its subsequent contribution. Separate acquisition and aggregation objectives can assign conflicting source preferences to the retained evidence. We propose RC-GeoCP, connecting radar-grounded representation with persistent receiver--source attribution. Geometric Structure Rectification (...
| Authors | Xiaokai Bai, Lianqing Zheng, Runwei Guan et al. |
|---|---|
| Primary category | cs.CV |
| Published | 28 February 2026 |
| Last updated at source | 5 September 2026 |
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