Survey on Cooperative Perception in an Automotive Context

The idea of cooperation has been introduced to self-
driving cars about a decade ago with the aim to reduce the
occlusion caused by other users or the scene. More recently,
the research efforts turned toward cooperative infrastructure
bringing a new kind of the point of view as well as more
processing power. This paper lies in this new field providing a
survey that addresses the cooperative environment. We provide
an overview of the architectures available to create such a
system as well as the challenges introduced by the cooperation.
Later, we review the main blocks involved in the perception:
localization, object detection & tracking, map generation. Each
block is reviewed under the prism of cooperation. We also
provide a Strengths, Weaknesses, Opportunities, and Threats
(SWOT) analysis of the cooperative perception as well as a list
of related scenarios alongside experimentations. Finally, we list
some related datasets before concluding our paper, underlining
the perspectives for further works