mlsanityData to 7 Oct 2026

V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformer

arXiv 2203.10638 ↗First posted 20 Mar 2022cs.CVcited by 320

Not on the map. Why?

Cited by 34 in End-to-end autonomous driving, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

In this paper, we investigate the application of Vehicle-to-Everything (V2X) communication to improve the perception performance of autonomous vehicles. We present a robust cooperative perception framework with V2X communication using a novel vision Transformer. Specifically, we build a holistic attention model, namely V2X-ViT, to effectively fuse information across on-road agents (i.e., vehicles and infrastructure). V2X-ViT consists of alternating layers of heterogeneous multi-agent self-attention and multi-scale window self-attention, which captures inter-agent interaction and per-agent spatial relationships. These key modules are designed in a unified Transformer architecture to handle common V2X challenges, including asynchronous information sharing, pose errors, and heterogeneity of V2X components. To validate our approach, we create a large-scale V2X perception dataset using CARLA and OpenCDA. Extensive experimental results demonstrate that V2X-ViT sets new state-of-the-art performance for 3D object detection and achieves robust performance even under harsh, noisy environments. The code is available at https://github.com/DerrickXuNu/v2x-vit.

Key facts. Cited by 320 papers in the map (data through 7 Oct 2026). Builds on 39 of its 62 references that are in the map. First posted on arXiv 20 Mar 2022.

Builds on

39 of 62 references.

References · 39

  1. 2017Attention Is All You Needcited by 59,932
  2. 2014Adam: A Method for Stochastic Optimizationcited by 36,960
  3. 2020An Image is Worth 16x16 Words: Transformers for Image Recognition at Scalecited by 29,915
  4. 2021Swin Transformer: Hierarchical Vision Transformer using Shifted Windowscited by 12,082
  5. 2016Layer Normalizationcited by 5,579
  6. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  7. 2017CARLA: An Open Urban Driving Simulatorcited by 2,431
  8. 2018PointPillars: Fast Encoders for Object Detection from Point Cloudscited by 1,707
  9. 2015Spatial Transformer Networkscited by 1,423
  10. 2017VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detectioncited by 1,323
  11. 2018PointRCNN: 3D Object Proposal Generation and Detection from Point Cloudcited by 939
  12. 2019PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detectioncited by 890
27 more
  1. 2021Uformer: A General U-Shaped Transformer for Image Restorationcited by 864
  2. 2020Heterogeneous Graph Transformercited by 581
  3. 2021Twins: Revisiting the Design of Spatial Attention in Vision Transformerscited by 565
  4. 2021CSWin Transformer: A General Vision Transformer Backbone with Cross-Shaped Windowscited by 526
  5. 2020ResNeSt: Split-Attention Networkscited by 445
  6. 2019PIXOR: Real-time 3D Object Detection from Point Cloudscited by 358
  7. 2020Axial-DeepLab: Stand-Alone Axial-Attention for Panoptic Segmentationcited by 326
  8. 2021OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communicationcited by 304
  9. 2022MAXIM: Multi-Axis MLP for Image Processingcited by 301
  10. 2020V2VNet: Vehicle-to-Vehicle Communication for Joint Perception and Predictioncited by 292
  11. 2019STD: Sparse-to-Dense 3D Object Detector for Point Cloudcited by 282
  12. 2020Deep Continuous Fusion for Multi-Sensor 3D Object Detectioncited by 263
  13. 2021Scaling Local Self-Attention for Parameter Efficient Visual Backbonescited by 220
  14. 2019Local Relation Networks for Image Recognitioncited by 210
  15. 2021Learning Distilled Collaboration Graph for Multi-Agent Perceptioncited by 194
  16. 2013Maxout Networkscited by 186
  17. 2019F-Cooper: Feature based Cooperative Perception for Autonomous Vehicle Edge Computing System Using 3D Point Cloudscited by 171
  18. 2019Cooper: Cooperative Perception for Connected Autonomous Vehicles based on 3D Point Cloudscited by 165
  19. 2022V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Drivingcited by 157
  20. 2020Who2com: Collaborative Perception via Learnable Handshake Communicationcited by 127
  21. 2020Learning to Communicate and Correct Pose Errorscited by 46
  22. 2021Keypoints-Based Deep Feature Fusion for Cooperative Vehicle Detection of Autonomous Drivingcited by 45
  23. 2019RGB and LiDAR fusion based 3D Semantic Segmentation for Autonomous Drivingcited by 39
  24. 2021SVT-Net: Super Light-Weight Sparse Voxel Transformer for Large Scale Place Recognitioncited by 36
  25. 2021Deep Learning on Monocular Object Pose Detection and Tracking: A Comprehensive Overviewcited by 31
  26. 2021Safe Occlusion-aware Autonomous Driving via Game-Theoretic Active Perceptioncited by 22
  27. 2021VIN: Voxel-based Implicit Network for Joint 3D Object Detection and Segmentation for Lidarscited by 6

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 26; 2023: 57; 2024: 69; 2025: 89; 2026: 79.

320 papers.

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  1. 2023End-to-end Autonomous Driving: Challenges and Frontierscited by 485
  2. 2022MaxViT: Multi-Axis Vision Transformercited by 476
  3. 2023VoxFormer: Sparse Voxel Transformer for Camera-based 3D Semantic Scene Completioncited by 306
  4. 2022Where2comm: Communication-Efficient Collaborative Perception via Spatial Confidence Mapscited by 255
  5. 2022CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformerscited by 227
  6. 2023V2V4Real: A Real-world Large-scale Dataset for Vehicle-to-Vehicle Cooperative Perceptioncited by 155
  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. 2023Collaborative Perception in Autonomous Driving: Methods, Datasets and Challengescited by 87
  10. 2024An Extensible Framework for Open Heterogeneous Collaborative Perceptioncited by 87
  11. 2022Latency-Aware Collaborative Perceptioncited by 86
  12. 2023Collaboration Helps Camera Overtake LiDAR in 3D Detectioncited by 81
38 more
  1. 2023BEVHeight: A Robust Framework for Vision-based Roadside 3D Object Detectioncited by 74
  2. 2023DeepAccident: A Motion and Accident Prediction Benchmark for V2X Autonomous Drivingcited by 73
  3. 2023SSCBench: A Large-Scale 3D Semantic Scene Completion Benchmark for Autonomous Drivingcited by 72
  4. 2023HM-ViT: Hetero-modal Vehicle-to-Vehicle Cooperative perception with vision transformercited by 70
  5. 2024Communication-Efficient Collaborative Perception via Information Filling with Codebookcited by 67
  6. 2024TUMTraf V2X Cooperative Perception Datasetcited by 66
  7. 2024A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlookcited by 65
  8. 2022Bridging the Domain Gap for Multi-Agent Perceptioncited by 60
  9. 2023Asynchrony-Robust Collaborative Perception via Bird's Eye View Flowcited by 58
  10. 2023Spatio-Temporal Domain Awareness for Multi-Agent Collaborative Perceptioncited by 52
  11. 2022Federated Learning via Decentralized Dataset Distillation in Resource-Constrained Edge Environmentscited by 49
  12. 2022Learning for Vehicle-to-Vehicle Cooperative Perception under Lossy Communicationcited by 47
  13. 2024V2X-VLM: End-to-End V2X Cooperative Autonomous Driving Through Large Vision-Language Modelscited by 47
  14. 2022Uncertainty Quantification of Collaborative Detection for Self-Drivingcited by 46
  15. 2025STAMP: Scalable Task And Model-agnostic Collaborative Perceptioncited by 44
  16. 2024End-to-End Autonomous Driving through V2X Cooperationcited by 42
  17. 2023CORE: Cooperative Reconstruction for Multi-Agent Perceptioncited by 41
  18. 2023Federated Learning for Connected and Automated Vehicles: A Survey of Existing Approaches and Challengescited by 39
  19. 2023Towards Vehicle-to-everything Autonomous Driving: A Survey on Collaborative Perceptioncited by 38
  20. 2024RCooper: A Real-world Large-scale Dataset for Roadside Cooperative Perceptioncited by 37
  21. 2022Tracking Objects as Pixel-wise Distributionscited by 36
  22. 2023DI-V2X: Learning Domain-Invariant Representation for Vehicle-Infrastructure Collaborative 3D Object Detectioncited by 34
  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. 2023Vision-Based Traffic Accident Detection and Anticipation: A Surveycited by 31
  26. 2023Flow-Based Feature Fusion for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 31
  27. 2024V2XPnP: Vehicle-to-Everything Spatio-Temporal Fusion for Multi-Agent Perception and Predictioncited by 31
  28. 2022Object Level Depth Reconstruction for Category Level 6D Object Pose Estimation From Monocular RGB Imagecited by 29
  29. 2022Adaptive Feature Fusion for Cooperative Perception using LiDAR Point Cloudscited by 29
  30. 2023UMC: A Unified Bandwidth-efficient and Multi-resolution based Collaborative Perception Frameworkcited by 29
  31. 2022V2XP-ASG: Generating Adversarial Scenes for Vehicle-to-Everything Perceptioncited by 28
  32. 2023Collaborative Multi-Object Tracking with Conformal Uncertainty Propagationcited by 27
  33. 2025V2V-LLM: Vehicle-to-Vehicle Cooperative Autonomous Driving with Multimodal Large Language Modelscited by 27
  34. 2025CoSDH: Communication-Efficient Collaborative Perception via Supply-Demand Awareness and Intermediate-Late Hybridizationcited 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. 2025LangCoop: Collaborative Driving with Languagecited by 25

50 most cited of 320 All 320 (JSON)