As vehicular communication and networking technologies continue to advance, infrastructure-based roadside perception emerges as a pivotal tool for connected automated vehicle (CAV) applications. Due to their elevated positioning, roadside sensors, including cameras and lidars, often enjoy unobstructed views with diminished object occlusion. This provides them a distinct advantage over onboard perception, enabling more robust and accurate detection of road objects. This paper presents MSight, a cutting-edge roadside perception system specifically designed for CAVs. MSight offers real-time vehicle detection, localization, tracking, and short-term trajectory prediction. Evaluations underscore the system's capability to uphold lane-level accuracy with minimal latency, revealing a range of potential applications to enhance CAV safety and efficiency. Presently, MSight operates 24/7 at a two-lane roundabout in the City of Ann Arbor, Michigan.

翻译：随着车载通信与网络技术的持续发展，基础设施侧的路端感知成为网联自动驾驶车辆（CAV）应用中的关键工具。由于安装位置较高，路端传感器（包括摄像头和激光雷达）通常能获得无遮挡的视野，减少物体被遮挡的情况。这使其相比车载感知具有显著优势，能够更鲁棒、更准确地检测道路目标。本文提出MSight，一种专为CAV设计的前沿路端感知系统。MSight提供实时车辆检测、定位、跟踪及短期轨迹预测。评估结果凸显了该系统在极低延迟下保持车道级精度的能力，展现了提升CAV安全性与效率的多种潜在应用。目前，MSight已在密歇根州安娜堡市的一个双车道环岛实现全天候运行。