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MethodVenueMessage packingCommunication graph constructionMessage fusion
When2com[12]CVPR2020Full feature mapHandshake-based sparse graphAttention per-agent
V2VNet[1]ECCV 2020Full feature mapFully connected graphAverage per-agent
DiscoNet [2]NeurIPS 2021Full feature mapFully connected graphMLP-based attention per-location
V2X-ViT[26]ECCV2022Full feature mapFully connected graphSelf-attention per-location
Where2commNeurIPS 2022Confidence-aware sparse feature map + request mapConfidence-aware sparse graphConfidence-awaremulti-head attention per-location
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MHA SPE SCMOPV2VCoPerception-UAVsV2X-Sim
√34.96/13.9263.48/44.23 51.2/45.7
38.75/13.2863.99/44.4657.3/50.8
39.82/16.4364.34/46.8659.1/52.0
√ √√ √ 卜47.30/19.3064.83/47.6259.1/52.2
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