CoCam4D: Geometry-Aware Cooperative 4D Perception for Camera-Only Autonomous Driving
Autonomous vehicles often suffer from limited perception due to occlusions, blind spots, limited sensor range, and the complex nature of surrounding environments. Multi-agent collaborative perception (CP) addresses these challenges by allowing vehicles to share sensory information and reconstruct the scene cooperatively. However, camera-only perception remains fundamentally limited by the uncertainty of distance-dependent monocular depth estimation. We propose CoCam4D, a Bayesian framework for collaborative perception that explicitly models geometric uncertainty. It uses a VGGT-based feedforward network to generate 3D Gaussian scene representations with associated uncertainty estimates, e...
| Authors | Soham Pahari, Sudip Das, Arindam Das et al. |
|---|---|
| Primary category | cs.RO |
| Published | 8 October 2026 |
| Last updated at source | 8 October 2026 |
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