Recent works have considered two qualitatively different approaches to overcome line-of-sight limitations of 3D sensors used for perception: cooperative perception and infrastructure-augmented perception. In this paper, motivated by increasing deployments of infrastructure LiDARs, we explore a third approach, cooperative infrastructure perception. This approach generates perception outputs by fusing outputs of multiple infrastructure sensors, but, to be useful, must do so quickly and accurately. We describe the design, implementation and evaluation of Cooperative Infrastructure Perception (CIP), which uses a combination of novel algorithms and systems optimizations. It produces perception outputs within 100 ms using modest computing resources and with accuracy comparable to the state-of-the-art. CIP, when used to augment vehicle perception, can improve safety. When used in conjunction with offloaded planning, CIP can increase traffic throughput at intersections.

翻译：近期研究提出了两种本质上不同的方法来克服用于感知的三维传感器的视线限制：协同感知和基础设施增强感知。本文受日益增多的基础设施激光雷达部署的启发，探索了第三种方法——协同基础设施感知。该方法通过融合多个基础设施传感器的输出来生成感知结果，但为了具备实用性，必须快速且准确地完成这一过程。我们描述了协同基础设施感知的设计、实现与评估，该系统结合了新颖的算法与系统优化技术。它能够在适度的计算资源下，在100毫秒内生成感知输出，且准确度与当前最优技术相当。当用于增强车辆感知时，协同基础设施感知能够提升安全性。若与卸载规划结合使用，该系统可提高交叉路口的交通吞吐量。