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Rana Abbas

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Computer Vision Information Theory math.IT Artificial Intelligence eess.SP

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preprint2026arXiv

AFFormer: Adaptive Feature Fusion Transformer for V2X Cooperative Perception under Channel Impairments

Accurate 3D object detection is essential for ensuring the safety of autonomous vehicles. Cooperative perception, which leverages vehicle-to-everything (V2X) communication to share perceptual data, enhances detection but is vulnerable to channel impairments, such as noise, fading, and interference. To strengthen the reliability of intelligent transportation systems, this work improves the robustness of V2X cooperative perception under communication conditions that reflect common channel impairments. This paper proposes an Adaptive Feature Fusion Transformer (AFFormer), a Transformer-based framework that mitigates the adverse effects of corrupted features by modeling temporal, inter-agent, and spatial correlations. AFFormer introduces three key modules: Multi-Agent and Temporal Aggregation for context-aware fusion across agents and over time, Dual Spatial Attention for efficient modeling of spatial dependencies, and Uncertainty-Guided Fusion for entropy-driven refinement of fused features. A teacher-student knowledge distillation strategy further enhances robustness by aligning fused features with reliable early-collaboration supervision. AFFormer is validated on the V2XSet and DAIR-V2X datasets, where it consistently outperforms existing methods under both ideal and impaired communication conditions, demonstrating improved robustness to communication-induced feature degradation while maintaining a competitive efficiency-accuracy trade-off.

preprint2021arXiv

A comprehensive survey on point cloud registration

Registration is a transformation estimation problem between two point clouds, which has a unique and critical role in numerous computer vision applications. The developments of optimization-based methods and deep learning methods have improved registration robustness and efficiency. Recently, the combinations of optimization-based and deep learning methods have further improved performance. However, the connections between optimization-based and deep learning methods are still unclear. Moreover, with the recent development of 3D sensors and 3D reconstruction techniques, a new research direction emerges to align cross-source point clouds. This survey conducts a comprehensive survey, including both same-source and cross-source registration methods, and summarize the connections between optimization-based and deep learning methods, to provide further research insight. This survey also builds a new benchmark to evaluate the state-of-the-art registration algorithms in solving cross-source challenges. Besides, this survey summarizes the benchmark data sets and discusses point cloud registration applications across various domains. Finally, this survey proposes potential research directions in this rapidly growing field.

preprint2020arXiv

Grant-Free Non-Orthogonal Multiple Access: A Key Enabler for 6G-IoT

The proliferating number of devices with short payloads as well as low power budget has already driven researchers away from classical grant-based access schemes that are notorious for their large signalling overhead as well as power-consuming retransmissions. Instead, light-weight random access protocols have been re-investigated and their throughput has been improved in orders of magnitude with sophisticated yet still low-complex transceiver algorithms. In fact, grant-free access has been identified as a key medium access control technique for providing massive connectivity in machine type communications in cellular networks. In this paper, we show that grant-free access combined with non-orthogonal transmission schemes is a promising solution for 6G Internet of Things (IoT). We present novel and promising results for deep learning (DL)-based techniques for joint user detection and decoding. Then, we propose a multi-layered model for GF-NOMA for power-efficient communications. We also discuss resource allocation issues to enable the co-existence of GF-NOMA with other orthogonal or even grant-based schemes. Finally, we conclude with proposed research directions for medium access towards enabling 6G-IoT.

preprint2016arXiv

Random Multiple Access for M2M Communications with QoS Guarantees

We propose a novel random multiple access (RMA) scheme with quality of service (QoS) guarantees for machine-to-machine (M2M) communications. We consider a slotted uncoordinated data transmission period during which machine type communication (MTC) devices transmit over the same radio channel. Based on the latency requirements, MTC devices are divided into groups of different sizes, and the transmission frame is divided into subframes of different lengths. In each subframe, each group is assigned an access probability based on which an MTC device decides to transmit replicas of its packet or remain silent. The base station (BS) employs successive interference cancellation (SIC) to recover all the superposed packets. We derive the closed form expressions for the average probability of device resolution for each group, and we use these expressions to design the access probabilities. The accuracy of the expressions is validated through Monte Carlo simulations. We show that the designed access probabilities can guarantee the QoS requirements with high reliability and high energy efficiency. Finally, we show that RMA can outperform standard coordinated access schemes as well as some of the recently proposed M2M access schemes for cellular networks.