CoAnchor: Robust Collaborative Perception under Spatio-Temporal Misalignment via Object-Level Anchors
Collaborative perception extends the sensing range of a single vehicle by fusing observations from nearby agents, which improves the robustness of autonomous driving. In realistic deployments, however, the received collaborator messages are often affected by both communication delay and relative-pose noise, which jointly cause stale observations, spatial misalignment, and unstable feature fusion. Existing methods usually address these issues from either the spatial or temporal side, but handling them jointly in a unified and efficient manner remains challenging. In this paper, we propose CoAnchor, an anchor-centric spatio-temporal alignment framework for asynchronous collaborative percept...
| Authors | Chi Li, Rui Lin, Aobo Ji et al. |
|---|---|
| Primary category | cs.CV |
| Published | 21 August 2026 |
| Last updated at source | 21 August 2026 |
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