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Augmented Vehicular Reality (AVR): Enabling Extended Vision for Future Vehicles

Augmented Vehicular Reality (AVR): Enabling Extended Vision for Future Vehicles. Hang Qiu, Fawad Ahmad, Ramesh Govindan, Marco Gruteser, Fan Bai, Gorkem Kar. Advanced Sensing in Cars. LiDar. Radar. Stereo Camera. 3D Perception: The Point Cloud. Voxel Position (x, y, z) Color (R, G, B).

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Augmented Vehicular Reality (AVR): Enabling Extended Vision for Future Vehicles

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  1. Augmented Vehicular Reality (AVR):Enabling Extended Vision for Future Vehicles Hang Qiu, Fawad Ahmad, Ramesh Govindan, Marco Gruteser, Fan Bai, Gorkem Kar

  2. Advanced Sensing in Cars LiDar Radar Stereo Camera

  3. 3D Perception: The Point Cloud . • Voxel • Position (x, y, z) • Color (R, G, B)

  4. Shadows Sensor limited by Line-of-sight

  5. 8

  6. AVRChallenges x d ? • Extremely Limited V2V bandwidth • Perspective Transformation • Relative positioning • Low Latency

  7. AVRDesign: Relative Positioning ?

  8. AVRDesign: Using Sparse Features for Localization Static Sparse Features

  9. AVRDesign: Collecting the 3D feature map

  10. AVRDesign: Localization using sparse 3D map y x

  11. AVRDesign: Perspective Transformation y x

  12. AVRDesign: The Bandwidth

  13. AVRDesign: The Bandwidth at 30fps ~15X

  14. AVRDesign: Dealing with the Bandwidth constraint • Isolating moving objects • Compressing point clouds of moving objects (Future Work)

  15. AVRDesign: Extracting Point Clouds of Dynamics • Find the homograph of the current frame in the previous frame. (x, y) * H = (x’, y’)

  16. AVRDesign: Extracting Point Clouds of Dynamics • Leveraging the 1-1 mapping between pixels and voxels to compute the voxel displacement. • Isolating the moving voxels from the point cloud.

  17. AVRPreliminaryResult Point Cloud of Leader Point Cloud of Follower Merged Point Cloud

  18. AVRFuture Work • Further reduce the latency and shrink the bandwidth needed. • Motion Prediction. • Dead-reckoning. • Advanced Point Cloud Compression. • Optimizing the processing pipeline • GPU utilization • Module pipeline • Explore better V2V communication possibilities • WiFi-direct, LTE • Distributed Mu-MIMO • DSRC • LTE-direct

  19. ? ? ? ? Thank You! ?

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