# Intelligent Transportation Systems Using External Infrastructure: A Literature Survey

arXiv: https://arxiv.org/abs/2112.05615 · HTML: https://mlsanity.com/paper/2112.05615/

## Key facts

- Cited by 15 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 10 Dec 2021.

## Built on by (most cited first, 15 of 15)

- [TUMTraf V2X Cooperative Perception Dataset](https://mlsanity.com/paper/2403.01316/) (2024)
- [TUMTraf Event: Calibration and Fusion Resulting in a Dataset for Roadside Event-Based and RGB Cameras](https://mlsanity.com/paper/2401.08474/) (2024)
- [Federated Learning Framework Coping with Hierarchical Heterogeneity in Cooperative ITS](https://mlsanity.com/paper/2204.00215/) (2022)
- [A9 Intersection Dataset: All You Need for Urban 3D Camera-LiDAR Roadside Perception](https://mlsanity.com/paper/2306.09266/) (2023)
- [Towards Vision Zero: The TUM Traffic Accid3nD Dataset](https://mlsanity.com/paper/2503.12095/) (2025)
- [Multi-Agent Reinforcement Learning in Intelligent Transportation Systems: A Comprehensive Survey](https://mlsanity.com/paper/2508.20315/) (2025)
- [HeightFormer: A Semantic Alignment Monocular 3D Object Detection Method from Roadside Perspective](https://mlsanity.com/paper/2410.07758/) (2024)
- [RESOLVE: A Multi-Resolution and Multi-Modal Dataset for Roadside Cooperative Perception](https://mlsanity.com/paper/2606.31895/) (2026)
- [Oranits: Mission Assignment and Task Offloading in Open RAN-based ITS using Metaheuristic and Deep Reinforcement Learning](https://mlsanity.com/paper/2507.19712/) (2025)
- [Beyond the Vehicle: Cooperative Localization by Fusing Point Clouds for GPS-Challenged Urban Scenarios](https://mlsanity.com/paper/2602.03908/) (2026)
- [From Virtual Environments to Real-World Trials: Emerging Trends in Autonomous Driving](https://mlsanity.com/paper/2603.17714/) (2026)
- [A Five-Layer MLOps Architecture for Connected Automated Driving](https://mlsanity.com/paper/2605.12719/) (2026)
- [Reinforcement Learning-Based Traffic Signal Control for IoT-Enabled Intersections](https://mlsanity.com/paper/2606.22108/) (2026)
- [HMS-SCP: Task-Oriented Multi-Scale Semantic Communication for V2X Cooperative Perception](https://mlsanity.com/paper/2608.14603/) (2026)
- [Infrastructure-based Monocular 3D Vehicle Localization Framework with Experimental Validation](https://mlsanity.com/paper/2609.05523/) (2026)

## Abstract (arXiv)

The main problems in transportation are accidents, increasingly slow traffic flow, and pollution. An intelligent transportation system (ITS) using external infrastructure can overcome these problems. For this reason, the number of such systems is increasing dramatically, and therefore requires an adequate overview. To the best of our knowledge, no current systematic review of existing ITS solutions exists. To fill this knowledge gap, our paper provides an overview of existing ITS that use external infrastructure worldwide. Accordingly, this paper addresses current questions and challenges. For this purpose, we performed a literature review of documents that describe existing ITS solutions from 2009 until today. We categorized the results according to technology levels and analyzed its hardware system setup and value-added contributions. In doing so, we made the ITS solutions comparable and highlighted past development alongside current trends. We analyzed more than 357 papers, including 52 test bed projects. In summary, current ITSs can deliver accurate information about individuals in traffic situations in real-time. However, further research into ITS should focus on more reliable perception of the traffic using modern sensors, plug-and-play mechanisms, and secure real-time distribution of the digital twins in a decentralized manner. By addressing these topics, the development of intelligent transportation systems will be able to take a step towards its comprehensive roll-out.