[Submitted on 21 Jul 2026]

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Abstract:Cooperative perception enables autonomous vehicles (AVs) to improve situational awareness by aggregating detection outputs from multiple agents and sensing platforms, often via a shared fusion service in multi-vendor deployments. However, sharing such outputs at inference time exposes proprietary model behavior and sensitive environmental information, creating significant privacy and security concerns. In this paper, we present Sarus, a privacy-preserving framework for multi-vendor perception fusion via homomorphic encryption (HE), enabling aggregation without revealing individual vendor outputs. Each vendor encodes detections as compact Gaussian moment vectors over a shared spatial lattice and transmits encrypted payloads to a fusion server, which aggregates them directly in the encrypted domain. The fused result is then decrypted and reconstructed into final detections through class-wise bin merging.
We analyze the computational complexity, showing linear scaling for vendor payload construction and $O(BV)$ server-side fusion with the number of occupied bins $B$ and vendors $V$, while postprocessing scales as $O(B + \sum_{c\in \mathcal{C}} B_c^2)$, where $\mathcal{C}$ denotes the set of object classes and $B_c$ is the number of occupied bins for class $c$. Experiments demonstrate linear scaling in practice with only a bounded constant-factor overhead from HE, with decryption dominating postprocessing cost. Experiments on the KITTI dataset using camera (YOLOv8) and LiDAR (PointPillars, PV-RCNN) detectors show that Sarus improves scene-level coverage by effectively aggregating complementary detections, particularly in distance-dependent regimes where individual modalities degrade. These results indicate that privacy-preserving multi-vendor perception fusion is feasible for real-time deployment when statistical compression and spatial sparsity are jointly exploited.

Submission history

From: Munawar Hasan [view email]
[v1] Tue, 21 Jul 2026 14:38:52 UTC (6,945 KB)