Collaborative perception offers a promising solution to overcome challenges such as occlusion and long-range data processing. However, limited sensor accuracy leads to noisy poses that misalign observations among vehicles. To address this problem, we propose the FeaCo, which achieves robust Feature-level Consensus among collaborating agents in noisy pose conditions without additional training. We design an efficient Pose-error Rectification Module (PRM) to align derived feature maps from different vehicles, reducing the adverse effect of noisy pose and bandwidth requirements. We also provide an effective multi-scale Cross-level Attention Module (CAM) to enhance information aggregation and interaction between various scales. Our FeaCo outperforms all other localization rectification methods, as validated on both the collaborative perception simulation dataset OPV2V and real-world dataset V2V4Real, reducing heading error and enhancing localization accuracy across various error levels. Our code is available at: https://github.com/jmgu0212/FeaCo.git.

The intelligent grasping expects that the manipulator has the ability to grasp objects with high degree of freedom in a wild (unstructured) environment. Due to low perception ability in handing targets and environments, most industrial robots are limited to top-down 4-DoF grasping. In this work, we propose a novel low-cost coarse to fine robotic grasping framework. First, we design a global localization based environment perception method, which enables the manipulator to roughly and automatically locate work space. Then, constrained by the above initial localization, a 3D point cloud reconstruction based 6-DoF pose estimation method is proposed for the manipulator further fine locating grasping target. Finally, our framework realizes full function of visual 6DoF robotic grasping, which includes two different visual servoing and grasp planning strategies for different objects grasping. Meanwhile, it also can integrate various state-of-arts 6DoF pose estimation algorithms to facilitate various practical grasping applications or researches. Experimental results show that our method achieves autonomous robotic grasping with high degree of freedom in an unknown environment. Especially for objects with occlusion, singular shape or small scale, our method can still maintain robust grasping.