To develop the next generation of intelligent LiDARs, we propose a novel
framework of parallel LiDARs and construct a hardware prototype in our
experimental platform, DAWN (Digital Artificial World for Natural). It
emphasizes the tight integration of physical and digital space in LiDAR
systems, with networking being one of its supported core features. In the
context of autonomous driving, V2V (Vehicle-to-Vehicle) technology enables
efficient information sharing between different agents which significantly
promotes the development of LiDAR networks. However, current research operates
under an ideal situation where all vehicles are equipped with identical LiDAR,
ignoring the diversity of LiDAR categories and operating frequencies. In this
paper, we first utilize OpenCDA and RLS (Realistic LiDAR Simulation) to
construct a novel heterogeneous LiDAR dataset named OPV2V-HPL. Additionally, we
present HPL-ViT, a pioneering architecture designed for robust feature fusion
in heterogeneous and dynamic scenarios. It uses a graph-attention Transformer
to extract domain-specific features for each agent, coupled with a
cross-attention mechanism for the final fusion. Extensive experiments on
OPV2V-HPL demonstrate that HPL-ViT achieves SOTA (state-of-the-art) performance
in all settings and exhibits outstanding generalization capabilities.

开发下一代智能 LiDAR 的新框架，并在实验平台 DAWN 上构建硬件原型，强调物理空间和数字空间在 LiDAR 系统中的紧密集成，其中网络是其支持的核心特性之一，通过使用 OpenCDA 和 RLS 构建异构 LiDAR 数据集 OPV2V-HPL，并提出 HPL-ViT 架构用于异构和动态场景中的稳健特征融合，通过在 OPV2V-HPL 上进行广泛实验验证，HPL-ViT 在所有设置中实现了 SOTA 性能，并展现出出色的泛化能力。