mlsanityData to 7 Oct 2026

Latency-Aware Collaborative Perception

arXiv 2207.08560 ↗First posted 18 Jul 2022cs.CV cs.ROcited by 86

Not on the map. Why?

Abstract (arXiv)

Collaborative perception has recently shown great potential to improve perception capabilities over single-agent perception. Existing collaborative perception methods usually consider an ideal communication environment. However, in practice, the communication system inevitably suffers from latency issues, causing potential performance degradation and high risks in safety-critical applications, such as autonomous driving. To mitigate the effect caused by the inevitable latency, from a machine learning perspective, we present the first latency-aware collaborative perception system, which actively adapts asynchronous perceptual features from multiple agents to the same time stamp, promoting the robustness and effectiveness of collaboration. To achieve such a feature-level synchronization, we propose a novel latency compensation module, called SyncNet, which leverages feature-attention symbiotic estimation and time modulation techniques. Experiments results show that the proposed latency aware collaborative perception system with SyncNet can outperforms the state-of-the-art collaborative perception method by 15.6% in the communication latency scenario and keep collaborative perception being superior to single agent perception under severe latency.

Key facts. Cited by 86 papers in the map (data through 7 Oct 2026). Builds on 29 of its 43 references that are in the map. First posted on arXiv 18 Jul 2022.

Builds on

29 of 43 references.

References · 29

  1. 2017Attention Is All You Needcited by 59,932
  2. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,384
  3. 2017CARLA: An Open Urban Driving Simulatorcited by 2,431
  4. 2020Point Transformercited by 1,462
  5. 2015Convolutional LSTM Network: A Machine Learning Approach for Precipitation Nowcastingcited by 1,428
  6. 20194D Spatio-Temporal ConvNets: Minkowski Convolutional Neural Networkscited by 1,201
  7. 2020Center-based 3D Object Detection and Trackingcited by 1,143
  8. 2018PointRCNN: 3D Object Proposal Generation and Detection from Point Cloudcited by 939
  9. 2019PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detectioncited by 890
  10. 2019Deep Learning for 3D Point Clouds: A Surveycited by 557
  11. 2022V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformercited by 320
  12. 2021OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communicationcited by 304
17 more
  1. 2020V2VNet: Vehicle-to-Vehicle Communication for Joint Perception and Predictioncited by 292
  2. 2022DAIR-V2X: A Large-Scale Dataset for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 270
  3. 2021PV-RCNN++: Point-Voxel Feature Set Abstraction With Local Vector Representation for 3D Object Detectioncited by 232
  4. 2021Learning Distilled Collaboration Graph for Multi-Agent Perceptioncited by 194
  5. 2020When2com: Multi-Agent Perception via Communication Graph Groupingcited by 157
  6. 2020Who2com: Collaborative Perception via Learnable Handshake Communicationcited by 127
  7. 2018PredRNN++: Towards A Resolution of the Deep-in-Time Dilemma in Spatiotemporal Predictive Learningcited by 122
  8. 2020MotionNet: Joint Perception and Motion Prediction for Autonomous Driving Based on Bird's Eye View Mapscited by 100
  9. 2022COOPERNAUT: End-to-End Driving with Cooperative Perception for Networked Vehiclescited by 95
  10. 2018Memory In Memory: A Predictive Neural Network for Learning Higher-Order Non-Stationarity from Spatiotemporal Dynamicscited by 91
  11. 20203D Point Cloud Processing and Learning for Autonomous Drivingcited by 68
  12. 2020Convolutional Tensor-Train LSTM for Spatio-temporal Learningcited by 54
  13. 2022Model-Agnostic Multi-Agent Perception Frameworkcited by 51
  14. 2020Learning to Communicate and Correct Pose Errorscited by 46
  15. 2021Keypoints-Based Deep Feature Fusion for Cooperative Vehicle Detection of Autonomous Drivingcited by 45
  16. 2017Folded Recurrent Neural Networks for Future Video Predictioncited by 44
  17. 2021Overcoming Obstructions via Bandwidth-Limited Multi-Agent Spatial Handshakingcited by 16

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 7; 2023: 22; 2024: 21; 2025: 22; 2026: 14.

86 papers.

Sort:

By area:

  1. 2022Where2comm: Communication-Efficient Collaborative Perception via Spatial Confidence Mapscited by 255
  2. 2022Robust Collaborative 3D Object Detection in Presence of Pose Errorscited by 129
  3. 2023V2X-Seq: A Large-Scale Sequential Dataset for Vehicle-Infrastructure Cooperative Perception and Forecastingcited by 114
  4. 2023Collaborative Perception in Autonomous Driving: Methods, Datasets and Challengescited by 87
  5. 2024An Extensible Framework for Open Heterogeneous Collaborative Perceptioncited by 87
  6. 2023Collaboration Helps Camera Overtake LiDAR in 3D Detectioncited by 81
  7. 2023HM-ViT: Hetero-modal Vehicle-to-Vehicle Cooperative perception with vision transformercited by 70
  8. 2024Communication-Efficient Collaborative Perception via Information Filling with Codebookcited by 67
  9. 2022Bridging the Domain Gap for Multi-Agent Perceptioncited by 60
  10. 2023Asynchrony-Robust Collaborative Perception via Bird's Eye View Flowcited by 58
  11. 2023Spatio-Temporal Domain Awareness for Multi-Agent Collaborative Perceptioncited by 52
  12. 2023Synthetic Datasets for Autonomous Driving: A Surveycited by 48
38 more
  1. 2022Learning for Vehicle-to-Vehicle Cooperative Perception under Lossy Communicationcited by 47
  2. 2024End-to-End Autonomous Driving through V2X Cooperationcited by 42
  3. 2023CORE: Cooperative Reconstruction for Multi-Agent Perceptioncited by 41
  4. 2023Towards Vehicle-to-everything Autonomous Driving: A Survey on Collaborative Perceptioncited by 38
  5. 2024RCooper: A Real-world Large-scale Dataset for Roadside Cooperative Perceptioncited by 37
  6. 2024Collaborative Perception for Connected and Autonomous Driving: Challenges, Possible Solutions and Opportunitiescited by 32
  7. 2023Flow-Based Feature Fusion for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 31
  8. 2023UMC: A Unified Bandwidth-efficient and Multi-resolution based Collaborative Perception Frameworkcited by 29
  9. 2022V2XP-ASG: Generating Adversarial Scenes for Vehicle-to-Everything Perceptioncited by 28
  10. 2023Vehicle-Infrastructure Cooperative 3D Object Detection via Feature Flow Predictioncited by 25
  11. 2023Interruption-Aware Cooperative Perception for V2X Communication-Aided Autonomous Drivingcited by 25
  12. 2023Learning Cooperative Trajectory Representations for Motion Forecastingcited by 21
  13. 2023BM2CP: Efficient Collaborative Perception with LiDAR-Camera Modalitiescited by 20
  14. 2024Towards Collaborative Autonomous Driving: Simulation Platform and End-to-End Systemcited by 20
  15. 2023S2R-ViT for Multi-Agent Cooperative Perception: Bridging the Gap from Simulation to Realitycited by 18
  16. 2023DUSA: Decoupled Unsupervised Sim2Real Adaptation for Vehicle-to-Everything Collaborative Perceptioncited by 17
  17. 2023Vehicle-to-Everything Cooperative Perception for Autonomous Drivingcited by 15
  18. 2024One is Plenty: A Polymorphic Feature Interpreter for Immutable Heterogeneous Collaborative Perceptioncited by 15
  19. 2025SparseAlign: A Fully Sparse Framework for Cooperative Object Detectioncited by 15
  20. 2025TraF-Align: Trajectory-aware Feature Alignment for Asynchronous Multi-agent Perceptioncited by 15
  21. 2022Analyzing Infrastructure LiDAR Placement with Realistic LiDAR Simulation Librarycited by 14
  22. 2025Trajectory Prediction for Autonomous Driving: Progress, Limitations, and Future Directionscited by 14
  23. 2024A Survey on Intermediate Fusion Methods for Collaborative Perception Categorized by Real World Challengescited by 13
  24. 2024Pragmatic Communication in Multi-Agent Collaborative Perceptioncited by 10
  25. 2024V2X-PC: Vehicle-to-everything Collaborative Perception via Point Clustercited by 9
  26. 2024Adver-City: Open-Source Multi-Modal Dataset for Collaborative Perception Under Adverse Weather Conditionscited by 9
  27. 2024Robust Collaborative Perception without External Localization and Clock Devicescited by 8
  28. 2023Optimizing the Placement of Roadside LiDARs for Autonomous Drivingcited by 7
  29. 2024ActFormer: Scalable Collaborative Perception via Active Queriescited by 7
  30. 2024CoPeD-Advancing Multi-Robot Collaborative Perception: A Comprehensive Dataset in Real-World Environmentscited by 7
  31. 2025Learning to Detect Objects from Multi-Agent LiDAR Scans without Manual Labelscited by 7
  32. 2025CoST: Efficient Collaborative Perception From Unified Spatiotemporal Perspectivecited by 7
  33. 2023HPL-ViT: A Unified Perception Framework for Heterogeneous Parallel LiDARs in V2Vcited by 6
  34. 2024RCDN: Towards Robust Camera-Insensitivity Collaborative Perception via Dynamic Feature-based 3D Neural Modelingcited by 6
  35. 2025CoDynTrust: Robust Asynchronous Collaborative Perception via Dynamic Feature Trust Moduluscited by 6
  36. 2023V2X-Boosted Federated Learning for Cooperative Intelligent Transportation Systems with Contextual Client Selectioncited by 5
  37. 2025V2X-DG: Domain Generalization for Vehicle-to-Everything Cooperative Perceptioncited by 5
  38. 2025Systematic Literature Review on Vehicular Collaborative Perception -- A Computer Vision Perspectivecited by 5

50 most cited of 86 All 86 (JSON)