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CERF: Communication-Efficient and Retraining-Free Collaborative Perception

arXiv · AI, language, vision and robotics · article · Sep 1, 2026 · UTC

Collaborative perception shares information among multiple agents to obtain a comprehensive scene representation, enhancing the perceptual capability of individual agents. However, most existing methods rely on transmitting and fusing dense feature maps for collaboration, which incurs inevitable communication overhead and heterogeneity challenges, limiting their practicality for real-world deployment. To address these challenges, we propose CERF, a novel Communication-Efficient and Retraining-Free framework for open heterogeneous collaborative perception. In CERF, we introduce a new virtual mo

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