mlsanityData to 7 Oct 2026

OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communication

arXiv 2109.07644 ↗First posted 16 Sep 2021cs.CV cs.ROcited by 304

On the map: World models → World models for autonomous driving

Abstract (arXiv)

Employing Vehicle-to-Vehicle communication to enhance perception performance in self-driving technology has attracted considerable attention recently; however, the absence of a suitable open dataset for benchmarking algorithms has made it difficult to develop and assess cooperative perception technologies. To this end, we present the first large-scale open simulated dataset for Vehicle-to-Vehicle perception. It contains over 70 interesting scenes, 11,464 frames, and 232,913 annotated 3D vehicle bounding boxes, collected from 8 towns in CARLA and a digital town of Culver City, Los Angeles. We then construct a comprehensive benchmark with a total of 16 implemented models to evaluate several information fusion strategies~(i.e. early, late, and intermediate fusion) with state-of-the-art LiDAR detection algorithms. Moreover, we propose a new Attentive Intermediate Fusion pipeline to aggregate information from multiple connected vehicles. Our experiments show that the proposed pipeline can be easily integrated with existing 3D LiDAR detectors and achieve outstanding performance even with large compression rates. To encourage more researchers to investigate Vehicle-to-Vehicle perception, we will release the dataset, benchmark methods, and all related codes in https://mobility-lab.seas.ucla.edu/opv2v/.

Key facts. Cited by 304 papers in the map (data through 7 Oct 2026). Placed in World models for autonomous driving, one of 11 directions in World models. Builds on 22 of its 32 references that are in the map. First posted on arXiv 16 Sep 2021.

Builds on

22 of 32 references.

Closest ancestors · 1

Same direction, newest first

  1. 2017CARLA: An Open Urban Driving Simulator10 Nov

Other references · 21

  1. 2017Attention Is All You Needcited by 59,932
  2. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  3. 2014Adam: A Method for Stochastic Optimizationcited by 36,960
  4. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,223
  5. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  6. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,436
  7. 2018PointPillars: Fast Encoders for Object Detection from Point Cloudscited by 1,707
  8. 2017VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detectioncited by 1,323
  9. 2018PointRCNN: 3D Object Proposal Generation and Detection from Point Cloudcited by 939
  10. 2019PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detectioncited by 890
  11. 2015Learning Deconvolution Network for Semantic Segmentationcited by 365
  12. 2019PIXOR: Real-time 3D Object Detection from Point Cloudscited by 358
9 more
  1. 2020V2VNet: Vehicle-to-Vehicle Communication for Joint Perception and Predictioncited by 292
  2. 2020Deep Continuous Fusion for Multi-Sensor 3D Object Detectioncited by 263
  3. 2019Auto-DeepLab: Hierarchical Neural Architecture Search for Semantic Image Segmentationcited by 258
  4. 2020Multi-Task Multi-Sensor Fusion for 3D Object Detectioncited by 203
  5. 2019F-Cooper: Feature based Cooperative Perception for Autonomous Vehicle Edge Computing System Using 3D Point Cloudscited by 171
  6. 2019Cooper: Cooperative Perception for Connected Autonomous Vehicles based on 3D Point Cloudscited by 165
  7. 2020LiDARsim: Realistic LiDAR Simulation by Leveraging the Real Worldcited by 137
  8. 2021Distributed Dynamic Map Fusion via Federated Learning for Intelligent Networked Vehiclescited by 24
  9. 2020Cooperative LIDAR Object Detection via Feature Sharing in Deep Networkscited by 19

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 27; 2023: 51; 2024: 69; 2025: 80; 2026: 77.

304 papers.

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  1. 2022V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformercited by 320
  2. 2022Where2comm: Communication-Efficient Collaborative Perception via Spatial Confidence Mapscited by 255
  3. 2022CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformerscited by 227
  4. 2022V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Drivingcited by 157
  5. 2023V2V4Real: A Real-world Large-scale Dataset for Vehicle-to-Vehicle Cooperative Perceptioncited by 155
  6. 2022ECOD: Unsupervised Outlier Detection Using Empirical Cumulative Distribution Functionscited by 153
  7. 2022Robust Collaborative 3D Object Detection in Presence of Pose Errorscited by 129
  8. 2023Vision Language Models in Autonomous Driving: A Survey and Outlookcited by 124
  9. 2023V2X-Seq: A Large-Scale Sequential Dataset for Vehicle-Infrastructure Cooperative Perception and Forecastingcited by 114
  10. 2022COOPERNAUT: End-to-End Driving with Cooperative Perception for Networked Vehiclescited by 95
  11. 2023Collaborative Perception in Autonomous Driving: Methods, Datasets and Challengescited by 87
  12. 2024An Extensible Framework for Open Heterogeneous Collaborative Perceptioncited by 87
38 more
  1. 2022Latency-Aware Collaborative Perceptioncited by 86
  2. 2023Collaboration Helps Camera Overtake LiDAR in 3D Detectioncited by 81
  3. 2023DeepAccident: A Motion and Accident Prediction Benchmark for V2X Autonomous Drivingcited by 73
  4. 2023SSCBench: A Large-Scale 3D Semantic Scene Completion Benchmark for Autonomous Drivingcited by 72
  5. 2023HM-ViT: Hetero-modal Vehicle-to-Vehicle Cooperative perception with vision transformercited by 70
  6. 2024Communication-Efficient Collaborative Perception via Information Filling with Codebookcited by 67
  7. 2024TUMTraf V2X Cooperative Perception Datasetcited by 66
  8. 2024A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlookcited by 65
  9. 20253D and 4D World Modeling: A Surveycited by 64
  10. 2022Bridging the Domain Gap for Multi-Agent Perceptioncited by 60
  11. 2023Asynchrony-Robust Collaborative Perception via Bird's Eye View Flowcited by 58
  12. 2023Spatio-Temporal Domain Awareness for Multi-Agent Collaborative Perceptioncited by 52
  13. 2022Federated Learning via Decentralized Dataset Distillation in Resource-Constrained Edge Environmentscited by 49
  14. 2023Synthetic Datasets for Autonomous Driving: A Surveycited by 48
  15. 2022Learning for Vehicle-to-Vehicle Cooperative Perception under Lossy Communicationcited by 47
  16. 2025STAMP: Scalable Task And Model-agnostic Collaborative Perceptioncited by 44
  17. 2024End-to-End Autonomous Driving through V2X Cooperationcited by 42
  18. 2022Domain Adaptive Object Detection for Autonomous Driving under Foggy Weathercited by 41
  19. 2023CORE: Cooperative Reconstruction for Multi-Agent Perceptioncited by 41
  20. 2024AgentsCoDriver: Large Language Model Empowered Collaborative Driving with Lifelong Learningcited by 40
  21. 2023Towards Vehicle-to-everything Autonomous Driving: A Survey on Collaborative Perceptioncited by 38
  22. 2024RCooper: A Real-world Large-scale Dataset for Roadside Cooperative Perceptioncited by 37
  23. 2024Collaborative Semantic Occupancy Prediction with Hybrid Feature Fusion in Connected Automated Vehiclescited by 33
  24. 2024Collaborative Perception for Connected and Autonomous Driving: Challenges, Possible Solutions and Opportunitiescited by 32
  25. 2023Flow-Based Feature Fusion for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 31
  26. 2024V2XPnP: Vehicle-to-Everything Spatio-Temporal Fusion for Multi-Agent Perception and Predictioncited by 31
  27. 2022Object Level Depth Reconstruction for Category Level 6D Object Pose Estimation From Monocular RGB Imagecited by 29
  28. 2022Adaptive Feature Fusion for Cooperative Perception using LiDAR Point Cloudscited by 29
  29. 2023UMC: A Unified Bandwidth-efficient and Multi-resolution based Collaborative Perception Frameworkcited by 29
  30. 2022V2XP-ASG: Generating Adversarial Scenes for Vehicle-to-Everything Perceptioncited by 28
  31. 2023Collaborative Multi-Object Tracking with Conformal Uncertainty Propagationcited by 27
  32. 2025V2V-LLM: Vehicle-to-Vehicle Cooperative Autonomous Driving with Multimodal Large Language Modelscited by 27
  33. 2025CoSDH: Communication-Efficient Collaborative Perception via Supply-Demand Awareness and Intermediate-Late Hybridizationcited by 27
  34. 2025UniOcc: A Unified Benchmark for Occupancy Forecasting and Prediction in Autonomous Drivingcited by 27
  35. 2023Vehicle-Infrastructure Cooperative 3D Object Detection via Feature Flow Predictioncited by 25
  36. 2023Interruption-Aware Cooperative Perception for V2X Communication-Aided Autonomous Drivingcited by 25
  37. 2024CMP: Cooperative Motion Prediction with Multi-Agent Communicationcited by 25
  38. 2023Open-sourced Data Ecosystem in Autonomous Driving: the Present and Futurecited by 22

50 most cited of 304 All 304 (JSON)

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  1. 2024A Comprehensive Review of 3D Object Detection in Autonomous Driving: Technological Advances and Future Directions
  2. 2025Vehicle-to-Infrastructure Collaborative Spatial Perception via Multimodal Large Language Models
  3. 2025PAVE: An End-to-End Dataset for Production Autonomous Vehicle Evaluation
  4. 2025Progressive Bird's Eye View Perception for Safety-Critical Autonomous Driving: A Comprehensive Survey
  5. 2024M2DA: Multi-Modal Fusion Transformer Incorporating Driver Attention for Autonomous Driving
  6. 2026CooperDrive: Enhancing Driving Decisions Through Cooperative Perception
  7. 2026RS2AD-LiDAR: End-to-End Autonomous Driving LiDAR Data Generation from Roadside Sensor Observations
  8. 2023An Autonomous Driving Model Integrated with BEV-V2X Perception, Fusion Prediction of Motion and Occupancy, and Driving Planning, in Complex Traffic Intersections