mlsanityData to 7 Oct 2026

Rope3D: TheRoadside Perception Dataset for Autonomous Driving and Monocular 3D Object Detection Task

arXiv 2203.13608 ↗First posted 25 Mar 2022cs.CVcited by 79

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Abstract (arXiv)

Concurrent perception datasets for autonomous driving are mainly limited to frontal view with sensors mounted on the vehicle. None of them is designed for the overlooked roadside perception tasks. On the other hand, the data captured from roadside cameras have strengths over frontal-view data, which is believed to facilitate a safer and more intelligent autonomous driving system. To accelerate the progress of roadside perception, we present the first high-diversity challenging Roadside Perception 3D dataset- Rope3D from a novel view. The dataset consists of 50k images and over 1.5M 3D objects in various scenes, which are captured under different settings including various cameras with ambiguous mounting positions, camera specifications, viewpoints, and different environmental conditions. We conduct strict 2D-3D joint annotation and comprehensive data analysis, as well as set up a new 3D roadside perception benchmark with metrics and evaluation devkit. Furthermore, we tailor the existing frontal-view monocular 3D object detection approaches and propose to leverage the geometry constraint to solve the inherent ambiguities caused by various sensors, viewpoints. Our dataset is available on https://thudair.baai.ac.cn/rope.

Key facts. Cited by 79 papers in the map (data through 7 Oct 2026). Builds on 38 of its 52 references that are in the map. First posted on arXiv 25 Mar 2022.

Builds on

38 of 52 references.

References · 38

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  2. 2016Densely Connected Convolutional Networkscited by 6,691
  3. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  4. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,436
  5. 2019Objects as Pointscited by 1,172
  6. 2019Argoverse: 3D Tracking and Forecasting with Rich Mapscited by 728
  7. 2018Pseudo-LiDAR from Visual Depth Estimation: Bridging the Gap in 3D Object Detection for Autonomous Drivingcited by 455
  8. 2021FCOS3D: Fully Convolutional One-Stage Monocular 3D Object Detectioncited by 444
  9. 2017Deep Layer Aggregationcited by 436
  10. 2020V2VNet: Vehicle-to-Vehicle Communication for Joint Perception and Predictioncited by 292
  11. 20163D Bounding Box Estimation Using Deep Learning and Geometrycited by 277
  12. 2019M3D-RPN: Monocular 3D Region Proposal Network for Object Detectioncited by 251
26 more
  1. 2021One Million Scenes for Autonomous Driving: ONCE Datasetcited by 218
  2. 2019Disentangling Monocular 3D Object Detectioncited by 215
  3. 2020SMOKE: Single-Stage Monocular 3D Object Detection via Keypoint Estimationcited by 202
  4. 2020A2D2: Audi Autonomous Driving Datasetcited by 189
  5. 2018The ApolloScape Open Dataset for Autonomous Driving and its Applicationcited by 188
  6. 2019Pseudo-LiDAR++: Accurate Depth for 3D Object Detection in Autonomous Drivingcited by 188
  7. 2021Objects are Different: Flexible Monocular 3D Object Detectioncited by 184
  8. 2019Cooper: Cooperative Perception for Connected Autonomous Vehicles based on 3D Point Cloudscited by 165
  9. 2020RTM3D: Real-time Monocular 3D Detection from Object Keypoints for Autonomous Drivingcited by 150
  10. 2021Delving into Localization Errors for Monocular 3D Object Detectioncited by 138
  11. 2019Accurate Monocular Object Detection via Color-Embedded 3D Reconstruction for Autonomous Drivingcited by 137
  12. 2020Kinematic 3D Object Detection in Monocular Videocited by 116
  13. 2019Monocular 3D Object Detection with Pseudo-LiDAR Point Cloudcited by 113
  14. 2018TrafficPredict: Trajectory Prediction for Heterogeneous Traffic-Agentscited by 111
  15. 2019GS3D: An Efficient 3D Object Detection Framework for Autonomous Drivingcited by 106
  16. 2019Monocular 3D Object Detection Leveraging Accurate Proposals and Shape Reconstructioncited by 106
  17. 2018MonoGRNet: A Geometric Reasoning Network for Monocular 3D Object Localizationcited by 84
  18. 2019The H3D Dataset for Full-Surround 3D Multi-Object Detection and Tracking in Crowded Urban Scenescited by 80
  19. 2019Deep Fitting Degree Scoring Network for Monocular 3D Object Detectioncited by 67
  20. 2019A*3D Dataset: Towards Autonomous Driving in Challenging Environmentscited by 64
  21. 2018ApolloCar3D: A Large 3D Car Instance Understanding Benchmark for Autonomous Drivingcited by 59
  22. 2020Cityscapes 3D: Dataset and Benchmark for 9 DoF Vehicle Detectioncited by 39
  23. 2021The 5th AI City Challengecited by 28
  24. 2017BoxCars: Improving Fine-Grained Recognition of Vehicles using 3-D Bounding Boxes in Traffic Surveillancecited by 23
  25. 2021Euro-PVI: Pedestrian Vehicle Interactions in Dense Urban Centerscited by 16
  26. 2021UrbanNet: Leveraging Urban Maps for Long Range 3D Object Detectioncited by 6

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 3; 2023: 18; 2024: 30; 2025: 19; 2026: 9.

79 papers.

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  1. 2022DAIR-V2X: A Large-Scale Dataset for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 270
  2. 2023V2X-Seq: A Large-Scale Sequential Dataset for Vehicle-Infrastructure Cooperative Perception and Forecastingcited by 114
  3. 2023BEVHeight: A Robust Framework for Vision-based Roadside 3D Object Detectioncited by 74
  4. 2024TUMTraf V2X Cooperative Perception Datasetcited by 66
  5. 2024A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlookcited by 65
  6. 2024ViT-CoMer: Vision Transformer with Convolutional Multi-scale Feature Interaction for Dense Predictionscited by 65
  7. 2024End-to-End Autonomous Driving through V2X Cooperationcited by 42
  8. 2024RCooper: A Real-world Large-scale Dataset for Roadside Cooperative Perceptioncited by 37
  9. 2023Flow-Based Feature Fusion for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 31
  10. 2024Elite360D: Towards Efficient 360 Depth Estimation via Semantic- and Distance-Aware Bi-Projection Fusioncited by 31
  11. 2023BEVHeight++: Toward Robust Visual Centric 3D Object Detectioncited by 29
  12. 2023InfraDet3D: Multi-Modal 3D Object Detection based on Roadside Infrastructure Camera and LiDAR Sensorscited by 25
38 more
  1. 2022OmniCity: Omnipotent City Understanding with Multi-level and Multi-view Imagescited by 21
  2. 2023Chasing Day and Night: Towards Robust and Efficient All-Day Object Detection Guided by an Event Cameracited by 21
  3. 2024V2X-Radar: A Multi-modal Dataset with 4D Radar for Cooperative Perceptioncited by 21
  4. 2023ByteTrackV2: 2D and 3D Multi-Object Tracking by Associating Every Detection Boxcited by 20
  5. 2023MonoGAE: Roadside Monocular 3D Object Detection with Ground-Aware Embeddingscited by 20
  6. 2023CoBEV: Elevating Roadside 3D Object Detection with Depth and Height Complementaritycited by 18
  7. 2023MonoLSS: Learnable Sample Selection For Monocular 3D Detectioncited by 18
  8. 2023WildScenes: A Benchmark for 2D and 3D Semantic Segmentation in Large-scale Natural Environmentscited by 16
  9. 2024BEVSpread: Spread Voxel Pooling for Bird's-Eye-View Representation in Vision-based Roadside 3D Object Detectioncited by 15
  10. 2023Open-TransMind: A New Baseline and Benchmark for 1st Foundation Model Challenge of Intelligent Transportationcited by 14
  11. 2023A Survey on Approximate Edge AI for Energy Efficient Autonomous Driving Servicescited by 14
  12. 2024HoloVIC: Large-scale Dataset and Benchmark for Multi-Sensor Holographic Intersection and Vehicle-Infrastructure Cooperativecited by 14
  13. 2024CARLA Drone: Monocular 3D Object Detection from a Different Perspectivecited by 12
  14. 2024Collaborative Perception Datasets in Autonomous Driving: A Surveycited by 11
  15. 2024RoScenes: A Large-scale Multi-view 3D Dataset for Roadside Perceptioncited by 9
  16. 2025R-LiViT: A LiDAR-Visual-Thermal Dataset Enabling Vulnerable Road User Focused Roadside Perceptioncited by 9
  17. 2025Collaborative Perception Datasets for Autonomous Driving: A Reviewcited by 8
  18. 2023Optimizing the Placement of Roadside LiDARs for Autonomous Drivingcited by 7
  19. 2024RopeBEV: A Multi-Camera Roadside Perception Network in Bird's-Eye-Viewcited by 5
  20. 2023A9 Intersection Dataset: All You Need for Urban 3D Camera-LiDAR Roadside Perceptioncited by 4
  21. 2024HeightLane: BEV Heightmap guided 3D Lane Detectioncited by 4
  22. 2024Monocular Lane Detection Based on Deep Learning: A Surveycited by 4
  23. 2024Vision Technologies with Applications in Traffic Surveillance Systems: A Holistic Surveycited by 4
  24. 2022FFPA-Net: Efficient Feature Fusion with Projection Awareness for 3D Object Detectioncited by 3
  25. 2024MOSE: Boosting Vision-based Roadside 3D Object Detection with Scene Cuescited by 3
  26. 2024HeightMapNet: Explicit Height Modeling for End-to-End HD Map Learningcited by 3
  27. 2025HeightFormer: Learning Height Prediction in Voxel Features for Roadside Vision Centric 3D Object Detection via Transformercited by 3
  28. 2025MIC-BEV: Multi-Infrastructure Camera Bird's-Eye-View Transformer with Relation-Aware Fusion for 3D Object Detectioncited by 3
  29. 2025RoadSceneVQA: Benchmarking Visual Question Answering in Roadside Perception Systems for Intelligent Transportation Systemcited by 3
  30. 2023Long Range Object-Level Monocular Depth Estimation for UAVscited by 2
  31. 2024FedRSU: Federated Learning for Scene Flow Estimation on Roadside Unitscited by 2
  32. 2024Roadside Monocular 3D Detection Prompted by 2D Detectioncited by 2
  33. 2024Fully Test-Time Adaptation for Monocular 3D Object Detectioncited by 2
  34. 2024Transfer Learning from Simulated to Real Scenes for Monocular 3D Object Detectioncited by 2
  35. 2025MC-BEVRO: Multi-Camera Bird Eye View Road Occupancy Detection for Traffic Monitoringcited by 2
  36. 2025MonoCT: Overcoming Monocular 3D Detection Domain Shift with Consistent Teacher Modelscited by 2
  37. 2025PillarMamba: Learning Local-Global Context for Roadside Point Cloud via Hybrid State Space Modelcited by 2
  38. 2025UrbanTwin: Synthetic Roadside LiDAR Datasetscited by 2

50 most cited of 79 All 79 (JSON)