EgoRefine: Ego-Referenced Predictive Alignment and Trajectory-Conditioned Reliability-Aware Fusion for Asynchronous Collaborative Perception

arXiv:2610.00319 · cs.CV, cs.RO, eess.IV · Submitted 2026-09-29 · Read on arXiv

cs.CV, cs.RO, eess.IV

Submitted: 2026-09-29

Updated: 2026-09-29

Code: https://github.com/godk0509/EgoRefine

Terminology

Alignment — 58× in this paper · explained in 1 episode
Ego-referenced Predictive Alignment — 7× in this paper
Trajectory-Directional Refinement — 6× in this paper
Trajectory-conditioned Reliability-aware Fusion — 6× in this paper
Transformer — 5× in this paper · explained in 2 episodes
Ablation — 3× in this paper · explained in 1 episode
Accuracy — 3× in this paper · explained in 1 episode
Robustness — 3× in this paper · explained in 5 episodes
Ablation study — 2× in this paper · explained in 1 episode
Aggregation — 2× in this paper · explained in 1 episode
Benchmark — 2× in this paper · explained in 2 episodes
Consistency — 2× in this paper · explained in 3 episodes
Feature-level Guidance — 2× in this paper
Point Clouds — 2× in this paper · explained in 2 episodes
Ablation Studies — 1× in this paper · explained in 1 episode
Adaptive Weighting — 1× in this paper · explained in 1 episode
Alignment Methods — 1× in this paper · explained in 1 episode
Communication Overhead — 1× in this paper · explained in 2 episodes
Core — 1× in this paper · explained in 2 episodes
Feature Selection — 1× in this paper · explained in 4 episodes
Late Fusion — 1× in this paper · explained in 2 episodes
Model-Agnostic — 1× in this paper · explained in 2 episodes

Sources

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