Where2comm: Communication-Efficient CollaborativePerceptionviaSpatialConfidenceMaps

In the simulation, we consider that the UAV swarm is flying over diverse simulated scenes at various altitudes. Each UAV has a sensing device to collect RGB images, a computation device to perceive the environment with a perception model, and a communication 9 device to transmit perception information among UAVs. In this setting, the UAV swarm is able to achieve 2D/3D object detection, pixel-wise or bird's-eye-view (BEV) semantic segmentation in a collaborative manner.