# Demonstrations of Cooperative Perception: Safety and Robustness in Connected and Automated Vehicle Operations

arXiv: https://arxiv.org/abs/2011.08581 · HTML: https://mlsanity.com/paper/2011.08581/

## Key facts

- Cited by 11 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 17 Nov 2020.

## Built on by (most cited first, 11 of 11)

- [Keypoints-Based Deep Feature Fusion for Cooperative Vehicle Detection of Autonomous Driving](https://mlsanity.com/paper/2109.11615/) (2021)
- [Interruption-Aware Cooperative Perception for V2X Communication-Aided Autonomous Driving](https://mlsanity.com/paper/2304.11821/) (2023)
- [A Survey and Framework of Cooperative Perception: From Heterogeneous Singleton to Hierarchical Cooperation](https://mlsanity.com/paper/2208.10590/) (2022)
- [Vehicle-to-Everything Cooperative Perception for Autonomous Driving](https://mlsanity.com/paper/2310.03525/) (2023)
- [Collaborative Perception for Autonomous Driving: Current Status and Future Trend](https://mlsanity.com/paper/2208.10371/) (2022)
- [V2X-ReaLO: An Open Online Framework and Dataset for Cooperative Perception in Reality](https://mlsanity.com/paper/2503.10034/) (2025)
- [CoPEM: Cooperative Perception Error Models for Autonomous Driving](https://mlsanity.com/paper/2211.11175/) (2022)
- [MSight: An Edge-Cloud Infrastructure-based Perception System for Connected Automated Vehicles](https://mlsanity.com/paper/2310.05290/) (2023)
- [Cooperative Visual-LiDAR Extrinsic Calibration Technology for Intersection Vehicle-Infrastructure: A review](https://mlsanity.com/paper/2405.10132/) (2024)
- [Augmented Intelligence in Smart Intersections: Local Digital Twins-Assisted Hybrid Autonomous Driving](https://mlsanity.com/paper/2410.12163/) (2024)
- [Anomaly Detection in Cooperative Vehicle Perception Systems under Imperfect Communication](https://mlsanity.com/paper/2501.17329/) (2025)

## Abstract (arXiv)

Cooperative perception, or collective perception (CP) is an emerging and promising technology for intelligent transportation systems (ITS). It enables an ITS station (ITS-S) to share its local perception information with others by means of vehicle-to-X (V2X) communication, thereby achieving improved efficiency and safety in road transportation. In this paper, we present our recent progress on the development of a connected and automated vehicle (CAV) and intelligent roadside unit (IRSU). We present three different experiments to demonstrate the use of CP service within intelligent infrastructure to improve awareness of vulnerable road users (VRU) and thus safety for CAVs in various traffic scenarios. We demonstrate in the experiments that a connected vehicle (CV) can "see" a pedestrian around the corners. More importantly, we demonstrate how CAVs can autonomously and safely interact with walking and running pedestrians, relying only on the CP information from the IRSU through vehicle-to-infrastructure (V2I) communication. This is one of the first demonstrations of urban vehicle automation using only CP information. We also address in the paper the handling of collective perception messages (CPMs) received from the IRSU, and passing them through a pipeline of CP information coordinate transformation with uncertainty, multiple road user tracking, and eventually path planning/decision making within the CAV. The experimental results were obtained with manually driven CV, fully autonomous CAV, and an IRSU retrofitted with vision and laser sensors and a road user tracking system.