EMP: Edge-assisted Multi-vehicle Perception (MobiCom '21)

Last update: Dec 3, 2022

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Overview

EMP

EMP is an edge-assisted multi-vehicle perception system for connected and autonomous vehicles (CAVs), designed for efficient and scalable sensor data sharing under potentially fluctuating network conditions to enhance the CAVs' local perception. The code is used in our MobiCom '21 paper, EMP: Edge-assisted Multi-vehicle Perception.

Setup EMP

Setup PointPillars (please first setup the Python environment following this README) and Draco.

cd <src_root>/src/main/cpp/
./setup_pointpillars.sh  # Download PointPillars source code
./build_pointpillars.sh  # Build PointPillars library

cd <src_root>/src/main/cpp
./setup_draco.sh  # Download Draco source code
./build_draco.sh  # Build Draco library

Build the JNI native library.

cd <src_root>/
./build_native_lib.sh

You can directly run the system using IDE like IntelliJ IDEA or generate .jar file for running in a terminal.

./gradlew shadowjar

Run EMP

Edge

First start an edge instance. Change the algorithm index (1-4) to run different partitioning algorithm:

No partitioning.
Naive partitioning based on the Voronoi Diagram.
Bandwidth-aware partitioning based on the Power Diagram.
REAP partitioning.

java -Djava.library.path=build/src/main/cpp \
   -Dlog4j.configurationFile=src/main/resources/log4j2-config.xml \
   -cp build/libs/emp-1.0.jar org.emp.edge.EdgeServer \
   -p [server port] -t [number of threads] -a [algorithm index] -c [number of clients] (-s [save path])

Vehicle

Then start vehicle instances in different terminals/machines. The vehicle type corresponds to the algorithm index (1: VehicleFull, 2: VehicleNaive, 3: VehicleBW, 4: VehicleReap). In the dataset object-0227, the available vehicle IDs are 1 (ego-vehicle), 4354, 4866, 5378, 21506, 22786.

java -Djava.library.path=build/src/main/cpp \
   -Dlog4j.configurationFile=src/main/resources/log4j2-config.xml \
   -cp build/libs/emp-1.0.jar org.emp.vehicle.[vehicle type] \
   -i [server ip] -p [server port] -c [client port] \
   -v [vehicle ID] -d [data path] -r [frame rate]

Perception

We modified PointPillars and use it as the perception module in EMP evaluation.

Data

We modified DeepGTAV - PreSIL to create our synthetic multi-vehicle dataset from GTA V. The dataset contains vehicle sensor data (camera images, LiDAR point clouds, position/direction information) and labels.

Data type	Description	Format
image_2	Ego vehicle's front camera data
velodyne	Ego vehicle's LiDAR data	x, y, z, object ID (if the point is in a object such as vehicle or pedestrian)
oxts	Ego vehicle's position/direction information in the KITTI format	latitude, longitude, altitude (KITTI world position), roll, pitch, heading
label_2	Ground truth for surrounding objects	type, truncated, occluded, alpha, 2d bbox (left top, right bottom), dimensions (hwl), 3d bbox (xyz, camera coordinates), rotation_y (camera coordinates)
label_2_aug	Augmented labels for surrounding objects	type, truncated, occluded, alpha, 2d bbox (left top, right bottom), dimensions (hwl), 3d bbox (xyz, camera coordinates), rotation_y (camera coordinates), object ID, points hit in 2D, points hit in 3D, speed, roll, pitch, object model, ID of vehicle the pedestrian is in
ego_object	Augmented label for the ego vehicle (some values set to constant)	type, -1, -1, -1, -1 -1 -1 -1, dimensions (hwl), 0 0 0, -1, object ID, -1, -1, speed, -1, -1, object model, 0

Reference

Please cite our work if it helps your research:

Xumiao Zhang, Anlan Zhang, Jiachen Sun, Xiao Zhu, Y. Ethan Guo, Feng Qian, and Z. Morley Mao. 2021. EMP: edge-assisted multi-vehicle perception. Proceedings of the 27th Annual International Conference on Mobile Computing and Networking. Association for Computing Machinery, New York, NY, USA, 545–558. DOI:https://doi.org/10.1145/3447993.3483242

Contact

Please feel free to reach out ([email protected]) for any questions about how to use the code or access to our dataset.

Comments

Some of the .txt files are missing

When I tried to run the vehicle, I got an error that the "0000001.txt" file was not found. I could not find this file in the repo. Where to find all the files required by different vehicles and how to configure the data path as highlighted in the following command.

java -Djava.library.path=build/src/main/cpp
-Dlog4j.configurationFile=src/main/resources/log4j2-config.xml
-cp build/libs/emp-1.0.jar org.emp.vehicle.[vehicle type]
-i [server ip] -p [server port] -c [client port]
-v [vehicle ID] -d [data path] -r [frame rate]

The following screenshot shows the mentioned behavior. Please note that as I couldn't find the file path, I set up a dummy data path.

opened by stonegen 2
Questions about dataset

I ran into some problems with the dataset while reproducing your work. I would like to know some details of "type", "object ID", "object model" and those "-1" in ego_object, or if you can provide some examples of these data for reference. At the same time I want to know the role of the data in the "order" folder. Looking forward to your reply！

opened by Cyunon 2
Question about determining transmission of the current frame is finished

Dear sir, you mentioned

(2) 𝐶2 of one vehicle has not arrived (e.g., due to limited bandwidth) but the 𝐶3 of all its neighboring vehicles have been delivered; (3) Neither 𝐶1 nor 𝐶2 of one vehicle has arrived but its neighbors finish uploading their 𝐶3s and 𝐶4s.

Why the C2 of a vehicle can be replaced by C3 of all its neighbor vehicle? (also, C1 C2 replaced by neighbors' C3 C4). We can't guarantee a vehicle's and neighbors‘ three boundaries (Lover, Lorigin,Lunder) are very likely in the similar positions， right？

I am confused about this.

opened by TronYY 2
Question about the java version and running environment.

When I run your system, the following problem occur on the car side: A fatal error has been detected by the Java Runtime Environment: SIGSEGV (0xb) at pc=0x00007f999f5ad163, pid=8194, tid=0x00007f99a0d31700"on the car side I wonder if your system needs to run under a certain java version? In addition, there may be a problem with my hardware. If possible, could you please tell me the running environment of your system?

opened by Cyunon 0

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