Abstract
Collaborative perception improves autonomous perception by sharing intermediate Bird's-Eye-View (BEV) features across connected agents, but dense feature exchange is difficult to deploy under strict Vehicle-to-Everything (V2X) bandwidth limits. Existing efficient methods typically either compress the full feature map uniformly, spending bits on low-value background, or sparsify communication, risking the loss of useful context. We propose a coverage-refinement design for byte-constrained cooperative perception: each agent transmits a highly compressed coarse layer over the full BEV map and allocates the remaining budget to selected high-resolution patches. A Task-Aware Benefit Selector ranks cells by estimated downstream utility, enabling deterministic budgeted refinement and zero-retraining adaptation to changing bandwidth. The receiver reconstructs a dense BEV tensor compatible with standard fusion modules. Experiments on DAIR-V2X and OPV2V show strong accuracy-payload trade-offs at kilobyte-scale budgets. On DAIR-V2X, our method reaches 0.60 AP@0.7 at only 1.87 KB per non-ego agent, compared with 0.52 at 4.61 KB for uniform SimVQ compression. Controlled diagnostics further show that the gain arises from coverage-refinement allocation rather than quantization alone. Code will be published.
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Publication details
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- Open access
- Green open access
Cite this article
APA 7
Yazgan, M., Müller, T., & Zöllner, J. M. (2026). Dense Coverage, Sparse Refinement: Byte-Constrained Cooperative Perception. https://omanscience.com/en/articles/dense-coverage-sparse-refinement-byte-constrained-cooperative-perception
MLA 9
Yazgan, Melih, et al. "Dense Coverage, Sparse Refinement: Byte-Constrained Cooperative Perception." https://omanscience.com/en/articles/dense-coverage-sparse-refinement-byte-constrained-cooperative-perception.
Chicago (author–date)
Yazgan, Melih, Timon Müller, and J. Marius Zöllner. 2026. "Dense Coverage, Sparse Refinement: Byte-Constrained Cooperative Perception." https://omanscience.com/en/articles/dense-coverage-sparse-refinement-byte-constrained-cooperative-perception.
Harvard
Yazgan, M., Müller, T. and Zöllner, J. M. (2026) 'Dense Coverage, Sparse Refinement: Byte-Constrained Cooperative Perception', Available at: https://omanscience.com/en/articles/dense-coverage-sparse-refinement-byte-constrained-cooperative-perception.
Vancouver
Yazgan M, Müller T, Zöllner JM. Dense Coverage, Sparse Refinement: Byte-Constrained Cooperative Perception. https://omanscience.com/en/articles/dense-coverage-sparse-refinement-byte-constrained-cooperative-perception
IEEE
M. Yazgan, T. Müller, and J. M. Zöllner, "Dense Coverage, Sparse Refinement: Byte-Constrained Cooperative Perception," https://omanscience.com/en/articles/dense-coverage-sparse-refinement-byte-constrained-cooperative-perception.