Distributed Dynamic Map Fusion via Federated Learning for Intelligent Networked Vehicles
Zijian Zhang Shuai Wang Yuncong Hong Liangkai Zhou Qi Hao Zijian Zhang Shuai Wang Yuncong Hong Liangkai Zhou Qi Hao
The technology of dynamic map fusion among networked vehicles has been developed to enlarge sensing ranges and improve sensing accuracies for individual vehicles. This paper proposes a federated learning (FL) based dynamic map fusion framework to achieve high map quality despite unknown numbers of objects in fields of view (FoVs), various sensing and model uncertainties, and missing data labels fo...