mlsanityData to 7 Oct 2026

V2V4Real: A Real-world Large-scale Dataset for Vehicle-to-Vehicle Cooperative Perception

arXiv 2303.07601 ↗First posted 14 Mar 2023cs.CVcited by 155

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Abstract (arXiv)

Modern perception systems of autonomous vehicles are known to be sensitive to occlusions and lack the capability of long perceiving range. It has been one of the key bottlenecks that prevents Level 5 autonomy. Recent research has demonstrated that the Vehicle-to-Vehicle (V2V) cooperative perception system has great potential to revolutionize the autonomous driving industry. However, the lack of a real-world dataset hinders the progress of this field. To facilitate the development of cooperative perception, we present V2V4Real, the first large-scale real-world multi-modal dataset for V2V perception. The data is collected by two vehicles equipped with multi-modal sensors driving together through diverse scenarios. Our V2V4Real dataset covers a driving area of 410 km, comprising 20K LiDAR frames, 40K RGB frames, 240K annotated 3D bounding boxes for 5 classes, and HDMaps that cover all the driving routes. V2V4Real introduces three perception tasks, including cooperative 3D object detection, cooperative 3D object tracking, and Sim2Real domain adaptation for cooperative perception. We provide comprehensive benchmarks of recent cooperative perception algorithms on three tasks. The V2V4Real dataset can be found at https://research.seas.ucla.edu/mobility-lab/v2v4real/.

Key facts. Cited by 155 papers in the map (data through 7 Oct 2026). Builds on 47 of its 68 references that are in the map. First posted on arXiv 14 Mar 2023.

Builds on

47 of 68 references.

References · 47

  1. 2017Attention Is All You Needcited by 59,932
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  3. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
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35 more
  1. 2021BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-Viewcited by 711
  2. 2021DETR3D: 3D Object Detection from Multi-view Images via 3D-to-2D Queriescited by 655
  3. 2017Frustum PointNets for 3D Object Detection from RGB-D Datacited by 640
  4. 2019PointPainting: Sequential Fusion for 3D Object Detectioncited by 449
  5. 2018Domain Adaptive Faster R-CNN for Object Detection in the Wildcited by 442
  6. 2021Multi-Modal Fusion Transformer for End-to-End Autonomous Drivingcited by 372
  7. 2019PIXOR: Real-time 3D Object Detection from Point Cloudscited by 358
  8. 2021Categorical Depth Distribution Network for Monocular 3D Object Detectioncited by 326
  9. 2022V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformercited by 320
  10. 2023VoxFormer: Sparse Voxel Transformer for Camera-based 3D Semantic Scene Completioncited by 306
  11. 2021OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communicationcited by 304
  12. 2020V2VNet: Vehicle-to-Vehicle Communication for Joint Perception and Predictioncited by 292
  13. 2022DAIR-V2X: A Large-Scale Dataset for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 270
  14. 2022Cross-view Transformers for real-time Map-view Semantic Segmentationcited by 264
  15. 2022CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformerscited by 227
  16. 2022DeepFusion: Lidar-Camera Deep Fusion for Multi-Modal 3D Object Detectioncited by 224
  17. 2018Orthographic Feature Transform for Monocular 3D Object Detectioncited by 201
  18. 2021Embracing Single Stride 3D Object Detector with Sparse Transformercited by 193
  19. 2021TrafficSim: Learning to Simulate Realistic Multi-Agent Behaviorscited by 192
  20. 2019F-Cooper: Feature based Cooperative Perception for Autonomous Vehicle Edge Computing System Using 3D Point Cloudscited by 171
  21. 2019Cooper: Cooperative Perception for Connected Autonomous Vehicles based on 3D Point Cloudscited by 165
  22. 2021ImVoxelNet: Image to Voxels Projection for Monocular and Multi-View General-Purpose 3D Object Detectioncited by 157
  23. 2020LiDARsim: Realistic LiDAR Simulation by Leveraging the Real Worldcited by 137
  24. 2020Pillar-based Object Detection for Autonomous Drivingcited by 137
  25. 2022Robust Collaborative 3D Object Detection in Presence of Pose Errorscited by 129
  26. 2022COOPERNAUT: End-to-End Driving with Cooperative Perception for Networked Vehiclescited by 95
  27. 2023Collaborative Perception in Autonomous Driving: Methods, Datasets and Challengescited by 87
  28. 2022Bridging the Domain Gap for Multi-Agent Perceptioncited by 60
  29. 2022Model-Agnostic Multi-Agent Perception Frameworkcited by 51
  30. 2022BMD: A General Class-balanced Multicentric Dynamic Prototype Strategy for Source-free Domain Adaptationcited by 39
  31. 2022Tracking Objects as Pixel-wise Distributionscited by 36
  32. 2022V2XP-ASG: Generating Adversarial Scenes for Vehicle-to-Everything Perceptioncited by 28
  33. 2023The OpenCDA Open-source Ecosystem for Cooperative Driving Automation Researchcited by 27
  34. 2021AutoCast: Scalable Infrastructure-less Cooperative Perception for Distributed Collaborative Drivingcited by 26
  35. 2022Automated Driving Systems Data Acquisition and Processing Platformcited by 1

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 25; 2024: 46; 2025: 55; 2026: 29.

155 papers.

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  1. 2023A Survey on Multimodal Large Language Models for Autonomous Drivingcited by 288
  2. 2023Vision Language Models in Autonomous Driving: A Survey and Outlookcited by 124
  3. 2024An Extensible Framework for Open Heterogeneous Collaborative Perceptioncited by 87
  4. 2023SSCBench: A Large-Scale 3D Semantic Scene Completion Benchmark for Autonomous Drivingcited by 72
  5. 2023HM-ViT: Hetero-modal Vehicle-to-Vehicle Cooperative perception with vision transformercited by 70
  6. 2024Communication-Efficient Collaborative Perception via Information Filling with Codebookcited by 67
  7. 2024TUMTraf V2X Cooperative Perception Datasetcited by 66
  8. 2024A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlookcited by 65
  9. 2025WOD-E2E: Waymo Open Dataset for End-to-End Driving in Challenging Long-tail Scenarioscited by 60
  10. 2023Spatio-Temporal Domain Awareness for Multi-Agent Collaborative Perceptioncited by 52
  11. 2023FRNet: Frustum-Range Networks for Scalable LiDAR Segmentationcited by 50
  12. 2025STAMP: Scalable Task And Model-agnostic Collaborative Perceptioncited by 44
38 more
  1. 2023AIDE: A Vision-Driven Multi-View, Multi-Modal, Multi-Tasking Dataset for Assistive Driving Perceptioncited by 39
  2. 2023Federated Learning for Connected and Automated Vehicles: A Survey of Existing Approaches and Challengescited by 39
  3. 2023Towards Vehicle-to-everything Autonomous Driving: A Survey on Collaborative Perceptioncited by 38
  4. 2024RCooper: A Real-world Large-scale Dataset for Roadside Cooperative Perceptioncited by 37
  5. 2025Foundation Models in Autonomous Driving: A Survey on Scenario Generation and Scenario Analysiscited by 37
  6. 2024Collaborative Semantic Occupancy Prediction with Hybrid Feature Fusion in Connected Automated Vehiclescited by 33
  7. 2024Collaborative Perception for Connected and Autonomous Driving: Challenges, Possible Solutions and Opportunitiescited by 32
  8. 2023Flow-Based Feature Fusion for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 31
  9. 2024V2XPnP: Vehicle-to-Everything Spatio-Temporal Fusion for Multi-Agent Perception and Predictioncited by 31
  10. 2025V2V-LLM: Vehicle-to-Vehicle Cooperative Autonomous Driving with Multimodal Large Language Modelscited by 27
  11. 2025CoSDH: Communication-Efficient Collaborative Perception via Supply-Demand Awareness and Intermediate-Late Hybridizationcited by 27
  12. 2024CMP: Cooperative Motion Prediction with Multi-Agent Communicationcited by 25
  13. 2024V2X-Radar: A Multi-modal Dataset with 4D Radar for Cooperative Perceptioncited by 21
  14. 2025Multi-Agent Autonomous Driving Systems with Large Language Models: A Survey of Recent Advancescited by 21
  15. 2024Towards Collaborative Autonomous Driving: Simulation Platform and End-to-End Systemcited by 20
  16. 2023S2R-ViT for Multi-Agent Cooperative Perception: Bridging the Gap from Simulation to Realitycited by 18
  17. 2024Multiagent Multitraversal Multimodal Self-Driving: Open MARS Datasetcited by 18
  18. 2024V2X-R: Cooperative LiDAR-4D Radar Fusion with Denoising Diffusion for 3D Object Detectioncited by 18
  19. 2024UAV3D: A Large-scale 3D Perception Benchmark for Unmanned Aerial Vehiclescited by 16
  20. 2023Probabilistic 3D Multi-Object Cooperative Tracking for Autonomous Driving via Differentiable Multi-Sensor Kalman Filtercited by 15
  21. 2023Vehicle-to-Everything Cooperative Perception for Autonomous Drivingcited by 15
  22. 2025Griffin: Aerial-Ground Cooperative Detection and Tracking Dataset and Benchmarkcited by 15
  23. 2025SparseAlign: A Fully Sparse Framework for Cooperative Object Detectioncited by 15
  24. 2025TraF-Align: Trajectory-aware Feature Alignment for Asynchronous Multi-agent Perceptioncited by 15
  25. 2025UrbanIng-V2X: A Large-Scale Multi-Vehicle, Multi-Infrastructure Dataset Across Multiple Intersections for Cooperative Perceptioncited by 15
  26. 2023FedBEVT: Federated Learning Bird's Eye View Perception Transformer in Road Traffic Systemscited by 14
  27. 2023MACP: Efficient Model Adaptation for Cooperative Perceptioncited by 14
  28. 2024HoloVIC: Large-scale Dataset and Benchmark for Multi-Sensor Holographic Intersection and Vehicle-Infrastructure Cooperativecited by 14
  29. 2025Co-MTP: A Cooperative Trajectory Prediction Framework with Multi-Temporal Fusion for Autonomous Drivingcited by 14
  30. 2024Extrapolated Urban View Synthesis Benchmarkcited by 13
  31. 2024DSRC: Learning Density-insensitive and Semantic-aware Collaborative Representation against Corruptionscited by 13
  32. 2025CoCMT: Communication-Efficient Cross-Modal Transformer for Collaborative Perceptioncited by 13
  33. 2023Select2Col: Leveraging Spatial-Temporal Importance of Semantic Information for Efficient Collaborative Perceptioncited by 12
  34. 2024V2X-DGW: Domain Generalization for Multi-agent Perception under Adverse Weather Conditionscited by 12
  35. 2025CoopTrack: Exploring End-to-End Learning for Efficient Cooperative Sequential Perceptioncited by 12
  36. 2024What Makes Good Collaborative Views? Contrastive Mutual Information Maximization for Multi-Agent Perceptioncited by 11
  37. 2024Collaborative Perception Datasets in Autonomous Driving: A Surveycited by 11
  38. 2024CooPre: Cooperative Pretraining for V2X Cooperative Perceptioncited by 11

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