AI RESEARCH
INTACT: Ego-Guided Typed Sparse Evidence Retrieval for Heterogeneous Collaborative Perception
arXiv CS.CV
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ArXi:2606.04437v1 Announce Type: new Collaborative perception extends the perceptual range of autonomous vehicles by sharing information across agents, but heterogeneous sensors and perception models make intermediate feature fusion difficult to deploy at scale. Existing heterogeneous collaboration methods typically follow a translation-first paradigm: collaborator features must be aligned, adapted, or projected into an ego-compatible space before fusion.