Cooperative Perception

Follow this topic Ask about this topic

Cooperative perception studies how multiple vehicles, robots, or aerial agents can combine sensor data to detect objects, map spaces, and reason about hazards that are hidden from any one agent. Common approaches range from early, intermediate, and late fusion to sharing compact object lists or selected features, with alignment and uncertainty methods handling differences in viewpoint, timing, sensors, and localization. Benchmarks such as OPV2V, DAIR-V2X, and V2V4Real support work on 3D detection, tracking, and robustness, while real-world and closed-loop tests examine deployment in driving and robotics. The central tension is that richer sharing can improve coverage but costs bandwidth and can introduce errors through delay, packet loss, or unreliable contributors; better perception also does not always produce safer or better plans.

Latest papers

112 papers11 papers in the last four weeks, down 39% on the four weeks before. 0.1% of all new papers.

Safety-Aligned 3D Object Detection: Single-Vehicle, Cooperative, and End-to-End Perspectives
Apr 2, 2026Brian Hsuan-Cheng Liao, Chih-Hong Cheng, Hasan Esen +13D Object Detection Autonomous Driving Safety Evaluation
DENSO AUTOMOTIVE Deutschland GmbH, 85386 Eching, Germany. · Department of Computer Engineering, Technical University of Munich, 85748 Garching, Germany. · Department of Computer Science, Carl von Ossietzky University of Oldenburg, 26129 Oldenburg, Germany.
Diff-KD: Diffusion-based Knowledge Distillation for Collaborative Perception under Corruptions
Apr 2, 2026Pengcheng Lyu, Chaokun Zhang, Gong Chen +2Cooperative Perception Autonomous Driving Perception
School of Future Technology, Tianjin University, Tianjin, China · School of Cybersecurity, Tianjin University, Tianjin, China · School of Computer Science and Technology, Tianjin University, Tianjin, China
V2U4Real: A Real-world Large-scale Dataset for Vehicle-to-UAV Cooperative Perception
Mar 26, 2026Weijia Li, Haoen Xiang, Tianxu Wang +4Autonomous Driving Datasets Cooperative Perception
Fujian Key Laboratory of Urban Intelligent Sensing and Computing, Xiamen University, China · Key Laboratory of Multimedia Trusted Perception and Efficient Computing, Ministry of Education of China, Xiamen University, China
HyDRA: Hybrid Domain-Aware Robust Architecture for Heterogeneous Collaborative Perception
Mar 25, 2026Minwoo Song, Minhee Kang, Heejin AhnLate Fusion Heterogeneous Collaborative Perception
School of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Republic of Korea
Reason-to-Transmit: Deliberative Adaptive Communication for Cooperative Perception
Mar 19, 2026Aayam Bansal, Ishaan GangwaniCommunication-Efficient Collaborative Perception Cooperative Perception
Synthetic Sciences
AgentComm-Bench: Stress-Testing Cooperative Embodied AI Under Latency, Packet Loss, and Bandwidth Collapse
Mar 18, 2026Aayam Bansal, Ishaan GangwaniMulti-Agent Communication AI Agent Benchmarks
Synthetic Sciences
Ego to World: Collaborative Spatial Reasoning in Embodied Systems via Reinforcement Learning
Mar 16, 2026Heng Zhou, Li Kang, Yiran Qin +12Spatial Reasoning VLMs for Robotics
University of Science and Technology of China · Shanghai AI Laboratory · Shanghai Jiao Tong University +4
Leveraging Large Vision Model for Multi-UAV Co-perception in Low-Altitude Wireless Networks
Mar 13, 2026Yunting Xu, Jiacheng Wang, Ruichen Zhang +6Communication-Efficient Collaborative Perception Cooperative Perception
College of Computing and Data Science, Nanyang Technological University, Singapore, 639798 · Alibaba Cloud, Hangzhou, China, 311121 · School of Electronic Science and Engineering, Nanjing University, Nanjing, China, 210023 +1
All Vehicles Can Lie: Efficient Adversarial Defense in Fully Untrusted-Vehicle Collaborative Perception via Pseudo-Random Bayesian Inference
Mar 9, 2026Yi Yu, Libing Wu, Zhuangzhuang Zhang +3Adversarial Robustness Cooperative Perception
School of Cyber Science and Engineering, Wuhan University · Cyberspace Institute of Advanced Technology, Guangzhou University
WaveComm: Lightweight Communication for Collaborative Perception via Wavelet Feature Distillation
Mar 9, 2026Erdemt Bao, Jin YangCommunication-Efficient Collaborative Perception Cooperative Perception
School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China. · National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, and Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University, Shaanxi 710049, China.
SiMO: Single-Modality-Operable Multimodal Collaborative Perception
Mar 9, 2026Jiageng Wen, Shengjie Zhao, Bing Li +3Cooperative Perception Multimodal Sensor Fusion
Shanghai Research Institute for Intelligent Autonomous Systems, Tongji University · School of Computer Science and Technology, Tongji University · School of Mechatronic Engineering and Automation, Shanghai University
CATNet: Collaborative Alignment and Transformation Network for Cooperative Perception
Mar 5, 2026Gong Chen, Chaokun Zhang, Tao Tang +3Cooperative Perception Multimodal Fusion
School of Computer Science and Technology, Tianjin University · School of Cybersecurity, Tianjin University · School of Future Technology, Tianjin University
EIMC: Efficient Instance-aware Multi-modal Collaborative Perception
Mar 3, 2026Kang Yang, Peng Wang, Lantao Li +4Cooperative Perception Communication-Efficient Collaborative Perception
School of Information, Renmin University of China, Beijing, China, 100872 · Sony Research and Development Center China, Beijing, China · National University of Defense Technology, Hunan, China, 410073
WhisperNet: A Scalable Solution for Bandwidth-Efficient Collaboration
Mar 2, 2026Gong Chen, Chaokun Zhang, Xinyan ZhaoCommunication-Efficient Collaborative Perception Cooperative Perception
School of Computer Science and Technology, Tianjin University · School of Cybersecurity, Tianjin University
CoopDiff: A Diffusion-Guided Approach for Cooperation under Corruptions
Mar 2, 2026Gong Chen, Chaokun Zhang, Pengcheng LvDiffusion-Based Denoising Cooperative Perception
School of Computer Science and Technology, Tianjin University · School of Cybersecurity, Tianjin University · School of Future Technology, Tianjin University
CoLC: Communication-Efficient Collaborative Perception with LiDAR Completion
Feb 28, 2026Yushan Han, Hui Zhang, Qiming Xia +2Communication-Efficient Collaborative Perception Cooperative Perception
Key Laboratory of Big Data & Artificial Intelligence in Transportation, Ministry of Education · School of Computer Science and Technology, Beijing Jiaotong University · Xiamen University
RC-GeoCP: Geometric Consensus for 4D Radar-Camera Collaborative Perception
Feb 28, 2026Xiaokai Bai, Lianqing Zheng, Runwei Guan +3Camera-Radar Fusion Cooperative Perception
College of Information Science and Electronic Engineering, Zhejiang University · School of Automotive Studies, Tongji University · Thrust of Artificial Intelligence, Hong Kong University of Science and Technology
An Empirical Analysis of Cooperative Perception for Occlusion Risk Mitigation
Feb 26, 2026Aihong Wang, Tenghui Xie, Fuxi Wen +1Autonomous Driving Safety Evaluation Cooperative Perception
School of Vehicle and Mobility, Tsinghua University, China.
Send Less, Perceive More: Masked Quantized Point Cloud Communication for Loss-Tolerant Collaborative Perception
Feb 25, 2026Sheng Xu, Enshu Wang, Hongfei Xue +6Communication-Efficient Collaborative Perception Cooperative Perception
School of Cyber Science and Engineering, Wuhan University, China · University of North Carolina at Charlotte, USA · Wuhan University of Technology, China +2
Learning Mutual View Information Graph for Adaptive Adversarial Collaborative Perception
Feb 23, 2026Yihang Tao, Senkang Hu, Haonan An +3Adversarial Attacks Cooperative Perception
Hong Kong JC STEM Lab of Smart City · City University of Hong Kong
QuantV2X: A Fully Quantized Multi-Agent System for Cooperative Perception
Sep 3, 2025Seth Z. Zhao, Huizhi Zhang, Zhaowei Li +11V2X Communication Cooperative Perception
UCLA · UW-Madison · NCSU +3
SAP-CoPE: Social-Aware Planning using Cooperative Pose Estimation with Infrastructure Sensor Nodes
Apr 8, 2025Minghao Ning, Yufeng Yang, Shucheng Huang +5Social Robot Navigation Motion Planning
Mechanical and Mechatronics Eng. Department, University of Waterloo, 200 University Ave W, Waterloo, ON N2L3G1, Canada · Department of Data and Systems Engineering, University of Hong Kong, Pok Fu Lam, Hong Kong, China · Mechanical Engineering Department, University of Alberta, Alberta, T6G1H9, Canada

Apr 2, 2026J/K move · Enter open · S save

Safety-Aligned 3D Object Detection: Single-Vehicle, Cooperative, and End-to-End Perspectives

Brian Hsuan-Cheng Liao, Chih-Hong Cheng, Hasan Esen, Alois Knoll

DENSO AUTOMOTIVE Deutschland GmbH, 85386 Eching, Germany. · Department of Computer Engineering, Technical University of Munich, 85748 Garching, Germany. · Department of Computer Science, Carl von Ossietzky University of Oldenburg, 26129 Oldenburg, Germany.

3D Object Detection Autonomous Driving Safety Evaluation Cooperative Perception End-to-End Autonomous Driving

Open paper AskPDF arXiv

Perception plays a central role in connected and autonomous vehicles (CAVs), underpinning not only conventional modular driving stacks, but also cooperative perception systems and recent end-to-end driving models. While deep learning has greatly improved perception performance, its statistical nature makes perfect predictions difficult to attain. Meanwhile, standard training objectives and evaluation benchmarks treat all perception errors equally, even though only a subset is safety-critical. In this paper, we investigate safety-aligned evaluation and optimization for 3D object detection that explicitly characterize high-impact errors. Building on our previously proposed safety-oriented metric, NDS-USC, and safety-aware loss function, EC-IoU, we make three contributions. First, we present an expanded study of single-vehicle 3D object detection models across diverse neural network architectures and sensing modalities, showing that gains under standard metrics such as mAP and NDS may not translate to safety-oriented criteria represented by NDS-USC. With EC-IoU, we reaffirm the benefit of safety-aware fine-tuning for improving safety-critical detection performance. Second, we conduct an ego-centric, safety-oriented evaluation of AV-infrastructure cooperative object detection models, underscoring its superiority over vehicle-only models and demonstrating a safety impact analysis that illustrates the potential contribution of cooperative models to "Vision Zero." Third, we integrate EC-IoU into SparseDrive and show that safety-aware perception hardening can reduce collision rate by nearly 30% and improve system-level safety directly in an end-to-end perception-to-planning framework. Overall, our results indicate that safety-aligned perception evaluation and optimization offer a practical path toward enhancing CAV safety across single-vehicle, cooperative, and end-to-end autonomy settings.