HyDRA: Hybrid Domain-Aware Robust Architecture for Heterogeneous Collaborative Perception
In collaborative perception, an agent's performance can be degraded by heterogeneity arising from differences in model architecture or training data distributions. To address this challenge, we propose HyDRA (Hybrid Domain-Aware Robust Architecture), a unified pipeline that integrates intermediate and late fusion within a domain-aware framework. We introduce a lightweight domain classifier that dynamically identifies heterogeneous agents and assigns them to the late-fusion branch. Furthermore, we propose anchor-guided pose graph optimization to mitigate localization errors inherent in late fusion, leveraging reliable detections from intermediate fusion as fixed spatial anchors. Extensive ...
| Authors | Minwoo Song, Minhee Kang, Heejin Ahn |
|---|---|
| Primary category | cs.CV |
| Published | 25 March 2026 |
| Last updated at source | 25 March 2026 |
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