mlsanityData to 7 Oct 2026

DAIR-V2X: A Large-Scale Dataset for Vehicle-Infrastructure Cooperative 3D Object Detection

arXiv 2204.05575 ↗First posted 12 Apr 2022cs.CV cs.AIcited by 270

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Abstract (arXiv)

Autonomous driving faces great safety challenges for a lack of global perspective and the limitation of long-range perception capabilities. It has been widely agreed that vehicle-infrastructure cooperation is required to achieve Level 5 autonomy. However, there is still NO dataset from real scenarios available for computer vision researchers to work on vehicle-infrastructure cooperation-related problems. To accelerate computer vision research and innovation for Vehicle-Infrastructure Cooperative Autonomous Driving (VICAD), we release DAIR-V2X Dataset, which is the first large-scale, multi-modality, multi-view dataset from real scenarios for VICAD. DAIR-V2X comprises 71254 LiDAR frames and 71254 Camera frames, and all frames are captured from real scenes with 3D annotations. The Vehicle-Infrastructure Cooperative 3D Object Detection problem (VIC3D) is introduced, formulating the problem of collaboratively locating and identifying 3D objects using sensory inputs from both vehicle and infrastructure. In addition to solving traditional 3D object detection problems, the solution of VIC3D needs to consider the temporal asynchrony problem between vehicle and infrastructure sensors and the data transmission cost between them. Furthermore, we propose Time Compensation Late Fusion (TCLF), a late fusion framework for the VIC3D task as a benchmark based on DAIR-V2X. Find data, code, and more up-to-date information at https://thudair.baai.ac.cn/index and https://github.com/AIR-THU/DAIR-V2X.

Key facts. Cited by 270 papers in the map (data through 7 Oct 2026). Builds on 18 of its 31 references that are in the map. First posted on arXiv 12 Apr 2022.

Builds on

18 of 31 references.

References · 18

  1. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  2. 2016The Cityscapes Dataset for Semantic Urban Scene Understandingcited by 4,427
  3. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,436
  4. 2018PointPillars: Fast Encoders for Object Detection from Point Cloudscited by 1,707
  5. 2018BDD100K: A Diverse Driving Dataset for Heterogeneous Multitask Learningcited by 1,282
  6. 2018PointRCNN: 3D Object Proposal Generation and Detection from Point Cloudcited by 939
  7. 2016Multi-View 3D Object Detection Network for Autonomous Drivingcited by 721
  8. 2019PointPainting: Sequential Fusion for 3D Object Detectioncited by 449
  9. 20203DSSD: Point-based 3D Single Stage Object Detectorcited by 440
  10. 2021Categorical Depth Distribution Network for Monocular 3D Object Detectioncited by 326
  11. 2020V2VNet: Vehicle-to-Vehicle Communication for Joint Perception and Predictioncited by 292
  12. 2018The highD Dataset: A Drone Dataset of Naturalistic Vehicle Trajectories on German Highways for Validation of Highly Automated Driving Systemscited by 276
6 more
  1. 2021One Million Scenes for Autonomous Driving: ONCE Datasetcited by 218
  2. 2021Learning Distilled Collaboration Graph for Multi-Agent Perceptioncited by 194
  3. 2018The ApolloScape Open Dataset for Autonomous Driving and its Applicationcited by 188
  4. 2019MVX-Net: Multimodal VoxelNet for 3D Object Detectioncited by 162
  5. 2021ImVoxelNet: Image to Voxels Projection for Monocular and Multi-View General-Purpose 3D Object Detectioncited by 157
  6. 2022Rope3D: TheRoadside Perception Dataset for Autonomous Driving and Monocular 3D Object Detection Taskcited by 79

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 11; 2023: 53; 2024: 66; 2025: 81; 2026: 59.

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  1. 2022Where2comm: Communication-Efficient Collaborative Perception via Spatial Confidence Mapscited by 255
  2. 2023MARS: An Instance-aware, Modular and Realistic Simulator for Autonomous Drivingcited by 170
  3. 2023V2V4Real: A Real-world Large-scale Dataset for Vehicle-to-Vehicle Cooperative Perceptioncited by 155
  4. 2022Robust Collaborative 3D Object Detection in Presence of Pose Errorscited by 129
  5. 2023V2X-Seq: A Large-Scale Sequential Dataset for Vehicle-Infrastructure Cooperative Perception and Forecastingcited by 114
  6. 2023Collaborative Perception in Autonomous Driving: Methods, Datasets and Challengescited by 87
  7. 2024An Extensible Framework for Open Heterogeneous Collaborative Perceptioncited by 87
  8. 2022Latency-Aware Collaborative Perceptioncited by 86
  9. 2023Collaboration Helps Camera Overtake LiDAR in 3D Detectioncited by 81
  10. 2023On the Road with GPT-4V(ision): Early Explorations of Visual-Language Model on Autonomous Drivingcited by 79
  11. 2023BEVHeight: A Robust Framework for Vision-based Roadside 3D Object Detectioncited by 74
  12. 2023DeepAccident: A Motion and Accident Prediction Benchmark for V2X Autonomous Drivingcited by 73
38 more
  1. 2023HM-ViT: Hetero-modal Vehicle-to-Vehicle Cooperative perception with vision transformercited by 70
  2. 2024Communication-Efficient Collaborative Perception via Information Filling with Codebookcited by 67
  3. 2024TUMTraf V2X Cooperative Perception Datasetcited by 66
  4. 2024A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlookcited by 65
  5. 2024ViT-CoMer: Vision Transformer with Convolutional Multi-scale Feature Interaction for Dense Predictionscited by 65
  6. 2023Asynchrony-Robust Collaborative Perception via Bird's Eye View Flowcited by 58
  7. 2023Spatio-Temporal Domain Awareness for Multi-Agent Collaborative Perceptioncited by 52
  8. 2023FRNet: Frustum-Range Networks for Scalable LiDAR Segmentationcited by 50
  9. 2023Synthetic Datasets for Autonomous Driving: A Surveycited by 48
  10. 2022Learning for Vehicle-to-Vehicle Cooperative Perception under Lossy Communicationcited by 47
  11. 2024V2X-VLM: End-to-End V2X Cooperative Autonomous Driving Through Large Vision-Language Modelscited by 47
  12. 2025STAMP: Scalable Task And Model-agnostic Collaborative Perceptioncited by 44
  13. 2024End-to-End Autonomous Driving through V2X Cooperationcited by 42
  14. 2023CORE: Cooperative Reconstruction for Multi-Agent Perceptioncited by 41
  15. 2024AgentsCoDriver: Large Language Model Empowered Collaborative Driving with Lifelong Learningcited by 40
  16. 2023Towards Vehicle-to-everything Autonomous Driving: A Survey on Collaborative Perceptioncited by 38
  17. 2024RCooper: A Real-world Large-scale Dataset for Roadside Cooperative Perceptioncited by 37
  18. 2024Collaborative Semantic Occupancy Prediction with Hybrid Feature Fusion in Connected Automated Vehiclescited by 33
  19. 2023Flow-Based Feature Fusion for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 31
  20. 2024V2XPnP: Vehicle-to-Everything Spatio-Temporal Fusion for Multi-Agent Perception and Predictioncited by 31
  21. 2023UMC: A Unified Bandwidth-efficient and Multi-resolution based Collaborative Perception Frameworkcited by 29
  22. 2023BEVHeight++: Toward Robust Visual Centric 3D Object Detectioncited by 29
  23. 2022V2XP-ASG: Generating Adversarial Scenes for Vehicle-to-Everything Perceptioncited by 28
  24. 2025V2V-LLM: Vehicle-to-Vehicle Cooperative Autonomous Driving with Multimodal Large Language Modelscited by 27
  25. 2025CoSDH: Communication-Efficient Collaborative Perception via Supply-Demand Awareness and Intermediate-Late Hybridizationcited by 27
  26. 2023Interruption-Aware Cooperative Perception for V2X Communication-Aided Autonomous Drivingcited by 25
  27. 2023InfraDet3D: Multi-Modal 3D Object Detection based on Roadside Infrastructure Camera and LiDAR Sensorscited by 25
  28. 2023QUEST: Query Stream for Practical Cooperative Perceptioncited by 23
  29. 2023Open-sourced Data Ecosystem in Autonomous Driving: the Present and Futurecited by 22
  30. 2022DOLPHINS: Dataset for Collaborative Perception enabled Harmonious and Interconnected Self-drivingcited by 21
  31. 2022A Survey and Framework of Cooperative Perception: From Heterogeneous Singleton to Hierarchical Cooperationcited by 21
  32. 2023Learning Cooperative Trajectory Representations for Motion Forecastingcited by 21
  33. 2024V2X-Radar: A Multi-modal Dataset with 4D Radar for Cooperative Perceptioncited by 21
  34. 2023Deep Learning for Camera Calibration and Beyond: A Surveycited by 20
  35. 2023MonoGAE: Roadside Monocular 3D Object Detection with Ground-Aware Embeddingscited by 20
  36. 2023BM2CP: Efficient Collaborative Perception with LiDAR-Camera Modalitiescited by 20
  37. 2024Towards Collaborative Autonomous Driving: Simulation Platform and End-to-End Systemcited by 20
  38. 2023Adaptive Communications in Collaborative Perception with Domain Alignment for Autonomous Drivingcited by 19

50 most cited of 270 All 270 (JSON)