mlsanityData to 7 Oct 2026

Collaborative Perception in Autonomous Driving: Methods, Datasets and Challenges

arXiv 2301.06262 ↗First posted 16 Jan 2023cs.CVcited by 87

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Abstract (arXiv)

Collaborative perception is essential to address occlusion and sensor failure issues in autonomous driving. In recent years, theoretical and experimental investigations of novel works for collaborative perception have increased tremendously. So far, however, few reviews have focused on systematical collaboration modules and large-scale collaborative perception datasets. This work reviews recent achievements in this field to bridge this gap and motivate future research. We start with a brief overview of collaboration schemes. After that, we systematically summarize the collaborative perception methods for ideal scenarios and real-world issues. The former focuses on collaboration modules and efficiency, and the latter is devoted to addressing the problems in actual application. Furthermore, we present large-scale public datasets and summarize quantitative results on these benchmarks. Finally, we highlight gaps and overlook challenges between current academic research and real-world applications. The project page is https://github.com/CatOneTwo/Collaborative-Perception-in-Autonomous-Driving

Key facts. Cited by 87 papers in the map (data through 7 Oct 2026). Builds on 73 of its 149 references that are in the map. First posted on arXiv 16 Jan 2023.

Builds on

73 of 149 references.

References · 73

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50 most cited of 73 All 73 (JSON)

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 8; 2024: 19; 2025: 36; 2026: 24.

87 papers.

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  1. 2023V2V4Real: A Real-world Large-scale Dataset for Vehicle-to-Vehicle Cooperative Perceptioncited by 155
  2. 2025STAMP: Scalable Task And Model-agnostic Collaborative Perceptioncited by 44
  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. 2023QUEST: Query Stream for Practical Cooperative Perceptioncited by 23
  8. 2025Multi-Agent Autonomous Driving Systems with Large Language Models: A Survey of Recent Advancescited by 21
  9. 2023AccidentGPT: Accident Analysis and Prevention from V2X Environmental Perception with Multi-modal Large Modelcited by 17
  10. 2023Vehicle-to-Everything Cooperative Perception for Autonomous Drivingcited by 15
  11. 2024One is Plenty: A Polymorphic Feature Interpreter for Immutable Heterogeneous Collaborative Perceptioncited by 15
  12. 2025Griffin: Aerial-Ground Cooperative Detection and Tracking Dataset and Benchmarkcited by 15
38 more
  1. 2025UrbanIng-V2X: A Large-Scale Multi-Vehicle, Multi-Infrastructure Dataset Across Multiple Intersections for Cooperative Perceptioncited by 15
  2. 2025Trajectory Prediction for Autonomous Driving: Progress, Limitations, and Future Directionscited by 14
  3. 2024A Survey on Intermediate Fusion Methods for Collaborative Perception Categorized by Real World Challengescited by 13
  4. 2024CP-Guard: Malicious Agent Detection and Defense in Collaborative Bird's Eye View Perceptioncited by 13
  5. 2025CoLMDriver: LLM-based Negotiation Benefits Cooperative Autonomous Drivingcited by 13
  6. 2024Drones Help Drones: A Collaborative Framework for Multi-Drone Object Trajectory Prediction and Beyondcited by 12
  7. 2024EMIFF: Enhanced Multi-scale Image Feature Fusion for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 9
  8. 2024Adver-City: Open-Source Multi-Modal Dataset for Collaborative Perception Under Adverse Weather Conditionscited by 9
  9. 2025SenseRAG: Constructing Environmental Knowledge Bases with Proactive Querying for LLM-Based Autonomous Drivingcited by 9
  10. 2025CoopDETR: A Unified Cooperative Perception Framework for 3D Detection via Object Querycited by 9
  11. 2025Pragmatic Heterogeneous Collaborative Perception via Generative Communication Mechanismcited by 9
  12. 2025GCP: Guarded Collaborative Perception with Spatial-Temporal Aware Malicious Agent Detectioncited by 8
  13. 2025LDMapNet-U: An End-to-End System for City-Scale Lane-Level Map Updatingcited by 8
  14. 2025Collaborative Perception Datasets for Autonomous Driving: A Reviewcited by 8
  15. 2024UVCPNet: A UAV-Vehicle Collaborative Perception Network for 3D Object Detectioncited by 7
  16. 2025CoPEFT: Fast Adaptation Framework for Multi-Agent Collaborative Perception with Parameter-Efficient Fine-Tuningcited by 7
  17. 2025Systematic Literature Review on Vehicular Collaborative Perception -- A Computer Vision Perspectivecited by 5
  18. 2025LaneDiffusion: Improving Centerline Graph Learning via Prior Injected BEV Feature Generationcited by 5
  19. 2025Spatial Retrieval Augmented Autonomous Drivingcited by 5
  20. 2024Task-Oriented Wireless Communications for Collaborative Perception in Intelligent Unmanned Systemscited by 4
  21. 2025Which2comm: An Efficient Collaborative Perception Framework for 3D Object Detectioncited by 4
  22. 2025SparseCoop: Cooperative Perception with Kinematic-Grounded Queriescited by 4
  23. 2023SSC3OD: Sparsely Supervised Collaborative 3D Object Detection from LiDAR Point Cloudscited by 3
  24. 2024Evaluating Roadside Perception for Autonomous Vehicles: Insights from Field Testingcited by 3
  25. 2024Rethinking the Role of Infrastructure in Collaborative Perceptioncited by 3
  26. 2024WHALES: A Multi-Agent Scheduling Dataset for Enhanced Cooperation in Autonomous Drivingcited by 3
  27. 2025CoBEVMoE: Heterogeneity-aware Feature Fusion with Dynamic Mixture-of-Experts for Collaborative Perceptioncited by 3
  28. 2025InfoCom: Kilobyte-Scale Communication-Efficient Collaborative Perception with Information Bottleneckcited by 3
  29. 2026Learning Mutual View Information Graph for Adaptive Adversarial Collaborative Perceptioncited by 3
  30. 2023An Overview about Emerging Technologies of Autonomous Drivingcited by 2
  31. 2024On the Federated Learning Framework for Cooperative Perceptioncited by 2
  32. 2024Hierarchical and Decoupled BEV Perception Learning Framework for Autonomous Drivingcited by 2
  33. 2024Channel-Aware Throughput Maximization for Cooperative Data Fusion in CAVcited by 2
  34. 2025A Novel Multi-layer Task-centric and Data Quality Framework for Autonomous Drivingcited by 2
  35. 2025HeCoFuse: Cross-Modal Complementary V2X Cooperative Perception with Heterogeneous Sensorscited by 2
  36. 2025You Share Beliefs, I Adapt: Progressive Heterogeneous Collaborative Perceptioncited by 2
  37. 2025FocalComm: Hard Instance-Aware Multi-Agent Perceptioncited by 2
  38. 2026Privacy-Concealing Cooperative Perception for BEV Scene Segmentationcited by 2

50 most cited of 87 All 87 (JSON)