Cooperative Perception (DAIR-V2X)¶

HERCULES supports V2X-style collaborative perception, providing multi-view 3D object-detection baselines in the style of DAIR-V2X.

A vehicle-side agent (a UGV traversing the sidewalk) and an infrastructure-side agent (an overhead UAV) observe a shared city intersection from complementary viewpoints. Each agent exports time-synchronized RGB and LiDAR, providing the overlapping multi-view coverage that cooperative detection and fusion methods rely on.

Cooperative RGB¶

Vehicle-side (left) and infrastructure-side (right) RGB of a shared intersection

Per-agent LiDAR¶

Vehicle-side LiDAR Infrastructure-side LiDAR

Per-agent sensor streams¶

Vehicle-side RGB collage Infrastructure-side RGB collage Vehicle-side LiDAR collage Infrastructure-side LiDAR collage

Running it¶

Cooperative-perception data is exported by the dataset pipeline in standard formats and integrated through the ROS 2 wrapper. See Image APIs and LIDAR for the underlying sensor configuration.