Background Fades, Foreground Leads: Curriculum-Guided Background Pruning for Efficient Foreground-Centric Collaborative Perception

ArXi:2510.19250v2 Announce Type: replace Collaborative perception enhances the reliability and spatial coverage of autonomous vehicles by sharing complementary information across vehicles, offering a promising solution to long-tail scenarios that challenge single-vehicle perception. However, the bandwidth constraints of vehicular networks make transmitting the entire feature map impractical. Recent methods, therefore, adopt a foreground-centric paradigm, transmitting only predicted foreground-region features while discarding the background, which encodes essential context.