Case for Vehicle-Edge Collaborative Multi-Sensor Data Fusion for Autonomous Vehicle Teleoperation

Engineering notes

Evaluations on the nuScenes dataset and real-world 5G measurement traces show that SHARDED achieves competitive perception quality while reducing uplink bandwidth consumption and end-to-end latency.

Chinese explanation / 中文解读

中文解读待补充：本站会优先为端到端自动驾驶、BEV感知、3D目标检测、轨迹预测、路径规划、LiDAR感知等高价值论文补充中文说明。

Original abstract

Teleoperation provides a critical safety fallback when autonomous vehicles (AVs) encounter scenarios that are outside their operational design domain. In practice, however, remote operators rely primarily on compressed camera streams over 5G, which often lack depth and spatial geometric cues for safe operation in complex dynamic environments. While multi-sensor fusion can enhance situational awareness, directly transmitting raw camera and LiDAR data is impractical due to 5G uplink bandwidth and latency constraints. In this paper, we propose SHARDED, a collaborative camera–LiDAR perception framework that deploys a feature-level fusion pipeline across the vehicle and edge to reduce uplink traffic while preserving 3D detection and depth estimation accuracy. We further design two complementary mechanisms for SHARDED: (i) A network-aware adaptive feature transmission mechanism that reduces data traffic by 50% on average (peaking at over 95%) compared to raw sensor data, and (ii) a latency-aware positional drift compensation mechanism to mitigate cross-modal misalignment induced by unstable network conditions. Evaluations on the nuScenes dataset and real-world 5G measurement traces show that SHARDED achieves competitive perception quality while reducing uplink bandwidth consumption and end-to-end latency.

Links and sources

• Official / arXiv page

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