南京航空航天大学学报（英文版）2026，Vol.43Issue(4)：517-528,12.DOI:10.16356/j.1005-1120.2026.04.003
DeHCP:面向可扩展开放异构协同感知的解耦框架
DeHCP:A Decoupled Framework for Scalable Open Heterogeneous Collaborative Perception
摘要
Abstract
The existing open heterogeneous collaborative perception systems typically align diverse features to a fixed semantic space.This alignment process inevitably leads to information loss and suppresses modality-specific characteristics.To address this limitation,this paper introduces a novel decoupled heterogeneous collaborative perception(DeHCP)framework,which decouples the intermediate feature space into a shared branch and a specific branch.The shared branch extracts a modality-agnostic common representation,while the specific branch preserves modality-specific characteristics conditioned on learnable modality embeddings.A dynamic gate aggregation mechanism adaptively integrates these specific features with the common representation,based on the global semantic context and ego-agent identity.Furthermore,a decoupled supervision strategy with backward alignment enables the integration of unseen heterogeneous agents by updating only local encoders and lightweight adapters,thereby avoiding collective retraining.Extensive experiments on collaborative benchmarks demonstrate that DeHCP achieves improved three-dimensional object detection accuracy while maintaining the extensibility of open heterogeneous collaborative perception through backward alignment.The proposed approach supports the development of highly scalable autonomous driving systems.Code is available at https://github.com/jurui-cloud/DeHCP.关键词
协同感知/异构智能体/传感器融合/三维目标检测/自动驾驶车辆Key words
collaborative perception/heterogeneous agent/sensor fusion/3D object detection/autonomous vehicles分类
信息技术与安全科学引用本文复制引用
孙远,曹俱睿,刘宇颖,张栋,李佐勇,杜少毅..DeHCP:面向可扩展开放异构协同感知的解耦框架[J].南京航空航天大学学报（英文版）,2026,43(4):517-528,12.基金项目
This work was supported by the Na-tional Key Research and Development Program of China(No.2025ZD0124204),the National Natural Science Foun-dation of China(No.U24A20252),the Fundamental and In-terdisciplinary Disciplines Breakthrough Plan of the Ministry of Education of China(No.JYB2025XDXM504),the Fu-zhou Artificial Intelligence"List-Bidding&Task-Commissioning"Project(No.2025-ZD-038),the Natural Sci-ence Basic Research Plan in Shaanxi Province of China(No.2026JC-YBQN-0779),and the Fundamental Research Fund for the Central Universities(No.xzy012026035). （No.2025ZD0124204）
