mlsanityData to 7 Oct 2026

TUMTraf V2X Cooperative Perception Dataset

arXiv 2403.01316 ↗First posted 2 Mar 2024cs.CVcited by 66

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Abstract (arXiv)

Cooperative perception offers several benefits for enhancing the capabilities of autonomous vehicles and improving road safety. Using roadside sensors in addition to onboard sensors increases reliability and extends the sensor range. External sensors offer higher situational awareness for automated vehicles and prevent occlusions. We propose CoopDet3D, a cooperative multi-modal fusion model, and TUMTraf-V2X, a perception dataset, for the cooperative 3D object detection and tracking task. Our dataset contains 2,000 labeled point clouds and 5,000 labeled images from five roadside and four onboard sensors. It includes 30k 3D boxes with track IDs and precise GPS and IMU data. We labeled eight categories and covered occlusion scenarios with challenging driving maneuvers, like traffic violations, near-miss events, overtaking, and U-turns. Through multiple experiments, we show that our CoopDet3D camera-LiDAR fusion model achieves an increase of +14.36 3D mAP compared to a vehicle camera-LiDAR fusion model. Finally, we make our dataset, model, labeling tool, and dev-kit publicly available on our website: https://tum-traffic-dataset.github.io/tumtraf-v2x.

Key facts. Cited by 66 papers in the map (data through 7 Oct 2026). Builds on 41 of its 58 references that are in the map. First posted on arXiv 2 Mar 2024.

Builds on

41 of 58 references.

References · 41

  1. 2014Microsoft COCO: Common Objects in Contextcited by 17,498
  2. 2021Swin Transformer: Hierarchical Vision Transformer using Shifted Windowscited by 12,082
  3. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  4. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,436
  5. 2017CARLA: An Open Urban Driving Simulatorcited by 2,431
  6. 2018PointPillars: Fast Encoders for Object Detection from Point Cloudscited by 1,707
  7. 2017VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detectioncited by 1,323
  8. 2019Objects as Pointscited by 1,172
  9. 2020Center-based 3D Object Detection and Trackingcited by 1,143
  10. 2016Simple Online and Realtime Trackingcited by 862
  11. 2022BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representationcited by 844
  12. 2023Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecastingcited by 701
29 more
  1. 2022TransFusion: Robust LiDAR-Camera Fusion for 3D Object Detection with Transformerscited by 464
  2. 2019PointPainting: Sequential Fusion for 3D Object Detectioncited by 449
  3. 2022V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformercited by 320
  4. 2021OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communicationcited by 304
  5. 2022DAIR-V2X: A Large-Scale Dataset for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 270
  6. 2022V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Drivingcited by 157
  7. 2023V2V4Real: A Real-world Large-scale Dataset for Vehicle-to-Vehicle Cooperative Perceptioncited by 155
  8. 2023V2X-Seq: A Large-Scale Sequential Dataset for Vehicle-Infrastructure Cooperative Perception and Forecastingcited by 114
  9. 2023Collaboration Helps Camera Overtake LiDAR in 3D Detectioncited by 81
  10. 2022Rope3D: TheRoadside Perception Dataset for Autonomous Driving and Monocular 3D Object Detection Taskcited by 79
  11. 2023BEVHeight: A Robust Framework for Vision-based Roadside 3D Object Detectioncited by 74
  12. 2023Asynchrony-Robust Collaborative Perception via Bird's Eye View Flowcited by 58
  13. 2022DEVIANT: Depth EquiVarIAnt NeTwork for Monocular 3D Object Detectioncited by 48
  14. 2022A9-Dataset: Multi-Sensor Infrastructure-Based Dataset for Mobility Researchcited by 40
  15. 20193D BAT: A Semi-Automatic, Web-based 3D Annotation Toolbox for Full-Surround, Multi-Modal Data Streamscited by 35
  16. 2024Collaborative Semantic Occupancy Prediction with Hybrid Feature Fusion in Connected Automated Vehiclescited by 33
  17. 2023Poly-MOT: A Polyhedral Framework For 3D Multi-Object Trackingcited by 32
  18. 2022PillarGrid: Deep Learning-based Cooperative Perception for 3D Object Detection from Onboard-Roadside LiDARcited by 25
  19. 2023Vehicle-Infrastructure Cooperative 3D Object Detection via Feature Flow Predictioncited by 25
  20. 2023InfraDet3D: Multi-Modal 3D Object Detection based on Roadside Infrastructure Camera and LiDAR Sensorscited by 25
  21. 2023MonoPGC: Monocular 3D Object Detection with Pixel Geometry Contextscited by 21
  22. 2019LATTE: Accelerating LiDAR Point Cloud Annotation via Sensor Fusion, One-Click Annotation, and Trackingcited by 19
  23. 2019Providentia -- A Large-Scale Sensor System for the Assistance of Autonomous Vehicles and Its Evaluationcited by 17
  24. 2021Intelligent Transportation Systems Using External Infrastructure: A Literature Surveycited by 15
  25. 2022A Survey of Robust 3D Object Detection Methods in Point Cloudscited by 10
  26. 2021labelCloud: A Lightweight Domain-Independent Labeling Tool for 3D Object Detection in Point Cloudscited by 8
  27. 2022VINet: Lightweight, Scalable, and Heterogeneous Cooperative Perception for 3D Object Detectioncited by 8
  28. 2023CoBEVFusion: Cooperative Perception with LiDAR-Camera Bird's-Eye View Fusioncited by 6
  29. 2023ReBound: An Open-Source 3D Bounding Box Annotation Tool for Active Learningcited by 4

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 14; 2025: 30; 2026: 22.

66 papers.

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  1. 2024V2XPnP: Vehicle-to-Everything Spatio-Temporal Fusion for Multi-Agent Perception and Predictioncited by 31
  2. 2025V2V-LLM: Vehicle-to-Vehicle Cooperative Autonomous Driving with Multimodal Large Language Modelscited by 27
  3. 2024V2X-Radar: A Multi-modal Dataset with 4D Radar for Cooperative Perceptioncited by 21
  4. 2024Towards Collaborative Autonomous Driving: Simulation Platform and End-to-End Systemcited by 20
  5. 2024V2X-R: Cooperative LiDAR-4D Radar Fusion with Denoising Diffusion for 3D Object Detectioncited by 18
  6. 2024UAV3D: A Large-scale 3D Perception Benchmark for Unmanned Aerial Vehiclescited by 16
  7. 2025UrbanIng-V2X: A Large-Scale Multi-Vehicle, Multi-Infrastructure Dataset Across Multiple Intersections for Cooperative Perceptioncited by 15
  8. 2025Trajectory Prediction for Autonomous Driving: Progress, Limitations, and Future Directionscited by 14
  9. 2025CoopTrack: Exploring End-to-End Learning for Efficient Cooperative Sequential Perceptioncited by 12
  10. 2024Collaborative Perception Datasets in Autonomous Driving: A Surveycited by 11
  11. 2024CooPre: Cooperative Pretraining for V2X Cooperative Perceptioncited by 11
  12. 2025AirV2X: Unified Air-Ground Vehicle-to-Everything Collaborationcited by 11
38 more
  1. 2024Adver-City: Open-Source Multi-Modal Dataset for Collaborative Perception Under Adverse Weather Conditionscited by 9
  2. 2025R-LiViT: A LiDAR-Visual-Thermal Dataset Enabling Vulnerable Road User Focused Roadside Perceptioncited by 9
  3. 2025Research Challenges and Progress in the End-to-End V2X Cooperative Autonomous Driving Competitioncited by 9
  4. 2025TurboTrain: Towards Efficient and Balanced Multi-Task Learning for Multi-Agent Perception and Predictioncited by 9
  5. 2025Collaborative Perception Datasets for Autonomous Driving: A Reviewcited by 8
  6. 2024RCDN: Towards Robust Camera-Insensitivity Collaborative Perception via Dynamic Feature-based 3D Neural Modelingcited by 6
  7. 2025Mixed Signals: A Diverse Point Cloud Dataset for Heterogeneous LiDAR V2X Collaborationcited by 5
  8. 2025Systematic Literature Review on Vehicular Collaborative Perception -- A Computer Vision Perspectivecited by 5
  9. 2025M3CAD: Towards Generic Cooperative Autonomous Driving Benchmarkcited by 5
  10. 2024Collective Perception Datasets for Autonomous Driving: A Comprehensive Reviewcited by 4
  11. 2026MDrive: Benchmarking Closed-Loop Cooperative Driving for End-to-End Multi-agent Systemscited by 4
  12. 2024WHALES: A Multi-Agent Scheduling Dataset for Enhanced Cooperation in Autonomous Drivingcited by 3
  13. 2025Integrating Multi-Modal Sensors: A Review of Fusion Techniques for Intelligent Vehiclescited by 3
  14. 2025MIC-BEV: Multi-Infrastructure Camera Bird's-Eye-View Transformer with Relation-Aware Fusion for 3D Object Detectioncited by 3
  15. 2024PointCompress3D: A Point Cloud Compression Framework for Roadside LiDARs in Intelligent Transportation Systemscited by 2
  16. 2024Transfer Learning from Simulated to Real Scenes for Monocular 3D Object Detectioncited by 2
  17. 2025Towards Vision Zero: The TUM Traffic Accid3nD Datasetcited by 2
  18. 2025HeCoFuse: Cross-Modal Complementary V2X Cooperative Perception with Heterogeneous Sensorscited by 2
  19. 2025MamV2XCalib: V2X-based Target-less Infrastructure Camera Calibration with State Space Modelcited by 2
  20. 2026V2U4Real: A Real-world Large-scale Dataset for Vehicle-to-UAV Cooperative Perceptioncited by 2
  21. 2024Kaninfradet3D:A Road-side Camera-LiDAR Fusion 3D Perception Model based on Nonlinear Feature Extraction and Intrinsic Correlationcited by 1
  22. 2025RG-Attn: Radian Glue Attention for Multi-modality Multi-agent Cooperative Perceptioncited by 1
  23. 2025Enhancing Highway Safety: Accident Detection on the A9 Test Stretch Using Roadside Sensorscited by 1
  24. 2025S2S-Net: Addressing the Domain Gap of Heterogeneous Sensor Systems in LiDAR-Based Collective Perceptioncited by 1
  25. 2025A Synthetic Benchmark for Collaborative 3D Semantic Occupancy Prediction in V2X-Enabled Autonomous Drivingcited by 1
  26. 2025SpaRC-AD: A Baseline for Radar-Camera Fusion in End-to-End Autonomous Drivingcited by 1
  27. 2025Safety-Critical Learning for Long-Tail Events: The TUM Traffic Accident Datasetcited by 1
  28. 2026HetroD: A High-Fidelity Drone Dataset and Benchmark for Autonomous Driving in Heterogeneous Trafficcited by 1
  29. 2026OpenCOOD-Air: Prompting Heterogeneous Ground-Air Collaborative Perception with Spatial Conversion and Offset Predictioncited by 1
  30. 2026D2-V2X: Depth-Driven Cooperative V2X Reasoning for Autonomous Drivingcited by 1
  31. 20264D Radar Meets LiDAR and Camera: Cooperative Perception under Adverse Weathercited by 1
  32. 2026Cross-View Urban Traffic Dataset: Drone-Supervised Ground Truth for Monocular Bird's-Eye View Localizationcited by 1
  33. 2026RESOLVE: A Multi-Resolution and Multi-Modal Dataset for Roadside Cooperative Perceptioncited by 1
  34. 2026Defer to Plan: Adaptive Multi-Agent Fusion for End-to-End V2X Drivingcited by 1
  35. 2026CMU-Drive and V2V-VLA: Cooperative Multi-agent Unified Driving with Reasoning Benchmark and Vehicle-to-Vehicle Vision-Language-Action Modelscited by 1
  36. 2026InfraOcc: An Infrastructure Occupancy Benchmark with Static-to-Dynamic Reasoningcited by 1
  37. 2025RoCo-Sim: Enhancing Roadside Collaborative Perception through Foreground Simulationcited by 0
  38. 20252.5D Object Detection for Intelligent Roadside Infrastructurecited by 0

50 most cited of 66 All 66 (JSON)