Agent-Wise Test-Time Normalization for Camera-Based Cooperative Perception with Corrupted Collaborators
arXiv:2610.39505v1 Announce Type: cross Abstract: Intermediate-fusion cooperative perception lets a vehicle detect objects beyond its own field of view by fusing features shared by nearby agents. When only a collaborator's cameras are degraded by fog, motion blur or exposure errors, the features it shares drift away from the training distribution while the ego input stays clean, and cooperation can become worse than not cooperating at all. Test-time batch-normalization adaptation, the standard…