collaborative perception allows each agent to enhance its perceptual
abilities by exchanging messages with others. It inherently results in a
trade-off between perception ability and communication costs. Previous
提出了空间置信图概念，以实现基于多智能体协同感知的通信高效性，使智能体在信息共享时只传递关键的感知信息，优化感知性能，并可自适应调整传输空间区域以应对不同的通信带宽。在多个数据集上的 3D 物体检测任务中，Where2comm 算法分别以不同的传感器类型和车辆类型获得了优异的性能，并在通信体积方面实现了大幅度降低。