# Cooperative Perception with Learning-Based V2V communications

arXiv: https://arxiv.org/abs/2311.10336 · HTML: https://mlsanity.com/paper/2311.10336/

## Key facts

- Cited by 7 papers in the map (data through 14 Oct 2026).
- Builds on 8 of its 12 references that are in the map.
- First posted on arXiv 17 Nov 2023.

## Builds on (most cited first, 8 of 8)

- [PointPillars: Fast Encoders for Object Detection from Point Clouds](https://mlsanity.com/paper/1812.05784/) (2018)
- [VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detection](https://mlsanity.com/paper/1711.06396/) (2017)
- [OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communication](https://mlsanity.com/paper/2109.07644/) (2021)
- [V2VNet: Vehicle-to-Vehicle Communication for Joint Perception and Prediction](https://mlsanity.com/paper/2008.07519/) (2020)
- [Learning Distilled Collaboration Graph for Multi-Agent Perception](https://mlsanity.com/paper/2111.00643/) (2021)
- [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)
- [Cooperative Perception for 3D Object Detection in Driving Scenarios using Infrastructure Sensors](https://mlsanity.com/paper/1912.12147/) (2019)

## Built on by (most cited first, 7 of 7)

- [Systematic Literature Review on Vehicular Collaborative Perception -- A Computer Vision Perspective](https://mlsanity.com/paper/2504.04631/) (2025)
- [Self-supervised Adaptive Weighting for Cooperative Perception in V2V Communications](https://mlsanity.com/paper/2312.10342/) (2023)
- [RG-Attn: Radian Glue Attention for Multi-modality Multi-agent Cooperative Perception](https://mlsanity.com/paper/2501.16803/) (2025)
- [Coop-WD: Cooperative Perception with Weighting and Denoising for Robust V2V Communication](https://mlsanity.com/paper/2505.03528/) (2025)
- [Bandwidth-adaptive Cloud-Assisted 360-Degree 3D Perception for Autonomous Vehicles](https://mlsanity.com/paper/2602.23871/) (2026)
- [SimBEV2X: A Large-Scale Dataset and Data Generation Tool for Multi-Task Vehicle-to-Everything Cooperative Perception](https://mlsanity.com/paper/2607.23910/) (2026)
- [Embodied Semantic Communication for Collective Autonomous Agents: A Tutorial on Representation, Wireless Delivery, and Closed-Loop Coordination](https://mlsanity.com/paper/2609.35936/) (2026)

## Abstract (arXiv)

Cooperative perception has been widely used in autonomous driving to alleviate the inherent limitation of single automated vehicle perception. To enable cooperation, vehicle-to-vehicle (V2V) communication plays an indispensable role. This work analyzes the performance of cooperative perception accounting for communications channel impairments. Different fusion methods and channel impairments are evaluated. A new late fusion scheme is proposed to leverage the robustness of intermediate features. In order to compress the data size incurred by cooperation, a convolution neural network-based autoencoder is adopted. Numerical results demonstrate that intermediate fusion is more robust to channel impairments than early fusion and late fusion, when the SNR is greater than 0 dB. Also, the proposed fusion scheme outperforms the conventional late fusion using detection outputs, and autoencoder provides a good compromise between detection accuracy and bandwidth usage.