mlsanityData to 7 Oct 2026

BM2CP: Efficient Collaborative Perception with LiDAR-Camera Modalities

arXiv 2310.14702 ↗First posted 23 Oct 2023cs.CV cs.AI cs.ROcited by 20

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Abstract (arXiv)

Collaborative perception enables agents to share complementary perceptual information with nearby agents. This would improve the perception performance and alleviate the issues of single-view perception, such as occlusion and sparsity. Most existing approaches mainly focus on single modality (especially LiDAR), and not fully exploit the superiority of multi-modal perception. We propose a collaborative perception paradigm, BM2CP, which employs LiDAR and camera to achieve efficient multi-modal perception. It utilizes LiDAR-guided modal fusion, cooperative depth generation and modality-guided intermediate fusion to acquire deep interactions among modalities of different agents, Moreover, it is capable to cope with the special case where one of the sensors, same or different type, of any agent is missing. Extensive experiments validate that our approach outperforms the state-of-the-art methods with 50X lower communication volumes in both simulated and real-world autonomous driving scenarios. Our code is available at https://github.com/byzhaoAI/BM2CP.

Key facts. Cited by 20 papers in the map (data through 7 Oct 2026). Builds on 24 of its 29 references that are in the map. First posted on arXiv 23 Oct 2023.

Builds on

24 of 29 references.

References · 24

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  11. 2022CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformerscited by 227
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12 more
  1. 2019F-Cooper: Feature based Cooperative Perception for Autonomous Vehicle Edge Computing System Using 3D Point Cloudscited by 171
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  12. 2021Overcoming Obstructions via Bandwidth-Limited Multi-Agent Spatial Handshakingcited by 16

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 4; 2025: 7; 2026: 9.

20 papers.

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  1. 2024V2X-R: Cooperative LiDAR-4D Radar Fusion with Denoising Diffusion for 3D Object Detectioncited by 18
  2. 2024One is Plenty: A Polymorphic Feature Interpreter for Immutable Heterogeneous Collaborative Perceptioncited by 15
  3. 2024A Survey on Intermediate Fusion Methods for Collaborative Perception Categorized by Real World Challengescited by 13
  4. 2024Multi-weather Cross-view Geo-localization Using Denoising Diffusion Modelscited by 11
  5. 2025Pragmatic Heterogeneous Collaborative Perception via Generative Communication Mechanismcited by 9
  6. 2025SlimComm: Doppler-Guided Sparse Queries for Bandwidth-Efficient Cooperative 3-D Perceptioncited by 5
  7. 2026EIMC: Efficient Instance-aware Multi-modal Collaborative Perceptioncited by 4
  8. 2025InfoCom: Kilobyte-Scale Communication-Efficient Collaborative Perception with Information Bottleneckcited by 3
  9. 2025EffiComm: Bandwidth Efficient Multi Agent Communicationcited by 2
  10. 2026COOPERTRIM: Adaptive Data Selection for Uncertainty-Aware Cooperative Perceptioncited by 2
  11. 2025RG-Attn: Radian Glue Attention for Multi-modality Multi-agent Cooperative Perceptioncited by 1
  12. 2025LCV2I: Communication-Efficient and High-Performance Collaborative Perception Framework with Low-Resolution LiDARcited by 1
8 more
  1. 20264D Radar Meets LiDAR and Camera: Cooperative Perception under Adverse Weathercited by 1
  2. 2026C2E: Boosting Ego-Only 3D Object Detection via Multi-Teacher Contrastive Knowledge Distillationcited by 1
  3. 2025DRCP: Diffusion on Reinforced Cooperative Perception for Perceiving Beyond Limitscited by 0
  4. 2026SiMO: Single-Modality-Operable Multimodal Collaborative Perceptioncited by 0
  5. 2026UECP: Uncertainty-Enhanced Collaborative Perceptioncited by 0
  6. 2026CoDS: Robust Collaborative Perception via Expert-driven Detection and BEV Segmentationcited by 0
  7. 2026CauseCollab: Causal Unified and Modality-Agnostic Network for Heterogeneous Collaborative Perceptioncited by 0
  8. 2026LR-V2X: Loss-Resilient Collaborative Perception under Low-Bandwidth Communicationcited by 0