As vehicular communication and networking technologies continue to advance, infrastructure-based roadside perception emerges as a pivotal tool for connected automated vehicle (CAV) applications. Due to their elevated positioning, roadside sensors, including cameras and lidars, often enjoy unobstructed views with diminished object occlusion. This provides them a distinct advantage over onboard perception, enabling more robust and accurate detection of road objects. This paper presents MSight, a cutting-edge roadside perception system specifically designed for CAVs. MSight offers real-time vehicle detection, localization, tracking, and short-term trajectory prediction. Evaluations underscore the system's capability to uphold lane-level accuracy with minimal latency, revealing a range of potential applications to enhance CAV safety and efficiency. Presently, MSight operates 24/7 at a two-lane roundabout in the City of Ann Arbor, Michigan.

该研究介绍了MSight，一种专为CAV设计的最先进的路侧感知系统，具备实时车辆检测、定位、跟踪和短期轨迹预测的能力，通过最小的延迟实现车道级别的准确性，为提高CAV的安全性和效率提供了多种潜在应用。

MSight: 一种面向连接自动驾驶车辆的边缘云基础感知系统