# NLOS Dies Twice: Challenges and Solutions of V2X for Cooperative Perception

arXiv: https://arxiv.org/abs/2307.06615 · HTML: https://mlsanity.com/paper/2307.06615/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 15 of its 37 references that are in the map.
- First posted on arXiv 13 Jul 2023.

## Builds on (most cited first, 15 of 15)

- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [PointPillars: Fast Encoders for Object Detection from Point Clouds](https://mlsanity.com/paper/1812.05784/) (2018)
- [End to End Learning for Self-Driving Cars](https://mlsanity.com/paper/1604.07316/) (2016)
- [V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformer](https://mlsanity.com/paper/2203.10638/) (2022)
- [V2VNet: Vehicle-to-Vehicle Communication for Joint Perception and Prediction](https://mlsanity.com/paper/2008.07519/) (2020)
- [CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformers](https://mlsanity.com/paper/2207.02202/) (2022)
- [F-Cooper: Feature based Cooperative Perception for Autonomous Vehicle Edge Computing System Using 3D Point Clouds](https://mlsanity.com/paper/1909.06459/) (2019)
- [Cooper: Cooperative Perception for Connected Autonomous Vehicles based on 3D Point Clouds](https://mlsanity.com/paper/1905.05265/) (2019)
- [End-to-end Learning of Driving Models from Large-scale Video Datasets](https://mlsanity.com/paper/1612.01079/) (2016)
- [COOPERNAUT: End-to-End Driving with Cooperative Perception for Networked Vehicles](https://mlsanity.com/paper/2205.02222/) (2022)
- [Deep Imitation Learning for Autonomous Driving in Generic Urban Scenarios with Enhanced Safety](https://mlsanity.com/paper/1903.00640/) (2019)
- [RGB and LiDAR fusion based 3D Semantic Segmentation for Autonomous Driving](https://mlsanity.com/paper/1906.00208/) (2019)
- [Tracking Objects as Pixel-wise Distributions](https://mlsanity.com/paper/2207.05518/) (2022)
- [AutoCast: Scalable Infrastructure-less Cooperative Perception for Distributed Collaborative Driving](https://mlsanity.com/paper/2112.14947/) (2021)
- [LoS-Map Construction for Proactive Relay of Opportunity Selection in 6G V2X Systems](https://mlsanity.com/paper/2111.07804/) (2021)

## Built on by (most cited first, 3 of 3)

- [A Survey on Intermediate Fusion Methods for Collaborative Perception Categorized by Real World Challenges](https://mlsanity.com/paper/2404.16139/) (2024)
- [RG-Attn: Radian Glue Attention for Multi-modality Multi-agent Cooperative Perception](https://mlsanity.com/paper/2501.16803/) (2025)
- [DRCP: Diffusion on Reinforced Cooperative Perception for Perceiving Beyond Limits](https://mlsanity.com/paper/2509.24903/) (2025)

## Abstract (arXiv)

Multi-agent multi-lidar sensor fusion between connected vehicles for cooperative perception has recently been recognized as the best technique for minimizing the blind zone of individual vehicular perception systems and further enhancing the overall safety of autonomous driving systems. This technique relies heavily on the reliability and availability of vehicle-to-everything (V2X) communication. In practical sensor fusion application scenarios, the non-line-of-sight (NLOS) issue causes blind zones for not only the perception system but also V2X direct communication. To counteract underlying communication issues, we introduce an abstract perception matrix matching method for quick sensor fusion matching procedures and mobility-height hybrid relay determination procedures, proactively improving the efficiency and performance of V2X communication to serve the upper layer application fusion requirements. To demonstrate the effectiveness of our solution, we design a new simulation framework to consider autonomous driving, sensor fusion and V2X communication in general, paving the way for end-to-end performance evaluation and further solution derivation.