mlsanityData to 7 Oct 2026

Collaborative Perception Datasets in Autonomous Driving: A Survey

arXiv 2404.14022 ↗First posted 22 Apr 2024cs.CV cs.ROcited by 11

Not on the map. Why?

Abstract (arXiv)

This survey offers a comprehensive examination of collaborative perception datasets in the context of Vehicle-to-Infrastructure (V2I), Vehicle-to-Vehicle (V2V), and Vehicle-to-Everything (V2X). It highlights the latest developments in large-scale benchmarks that accelerate advancements in perception tasks for autonomous vehicles. The paper systematically analyzes a variety of datasets, comparing them based on aspects such as diversity, sensor setup, quality, public availability, and their applicability to downstream tasks. It also highlights the key challenges such as domain shift, sensor setup limitations, and gaps in dataset diversity and availability. The importance of addressing privacy and security concerns in the development of datasets is emphasized, regarding data sharing and dataset creation. The conclusion underscores the necessity for comprehensive, globally accessible datasets and collaborative efforts from both technological and research communities to overcome these challenges and fully harness the potential of autonomous driving.

Key facts. Cited by 11 papers in the map (data through 7 Oct 2026). Builds on 32 of its 44 references that are in the map. First posted on arXiv 22 Apr 2024.

Builds on

32 of 44 references.

References · 32

  1. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  2. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,436
  3. 2017CARLA: An Open Urban Driving Simulatorcited by 2,431
  4. 2018PointPillars: Fast Encoders for Object Detection from Point Cloudscited by 1,707
  5. 2017VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detectioncited by 1,323
  6. 2019Argoverse: 3D Tracking and Forecasting with Rich Mapscited by 728
  7. 2022V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformercited by 320
  8. 2021OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communicationcited by 304
  9. 2020V2VNet: Vehicle-to-Vehicle Communication for Joint Perception and Predictioncited by 292
  10. 2022DAIR-V2X: A Large-Scale Dataset for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 270
  11. 2019M3D-RPN: Monocular 3D Region Proposal Network for Object Detectioncited by 251
  12. 2022CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformerscited by 227
20 more
  1. 2021Learning Distilled Collaboration Graph for Multi-Agent Perceptioncited by 194
  2. 2019F-Cooper: Feature based Cooperative Perception for Autonomous Vehicle Edge Computing System Using 3D Point Cloudscited by 171
  3. 2019MVX-Net: Multimodal VoxelNet for 3D Object Detectioncited by 162
  4. 2020When2com: Multi-Agent Perception via Communication Graph Groupingcited by 157
  5. 2021ImVoxelNet: Image to Voxels Projection for Monocular and Multi-View General-Purpose 3D Object Detectioncited by 157
  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. 2020Who2com: Collaborative Perception via Learnable Handshake Communicationcited by 127
  9. 2023V2X-Seq: A Large-Scale Sequential Dataset for Vehicle-Infrastructure Cooperative Perception and Forecastingcited by 114
  10. 2022Rope3D: TheRoadside Perception Dataset for Autonomous Driving and Monocular 3D Object Detection Taskcited by 79
  11. 2023DeepAccident: A Motion and Accident Prediction Benchmark for V2X Autonomous Drivingcited by 73
  12. 2024TUMTraf V2X Cooperative Perception Datasetcited by 66
  13. 2024RCooper: A Real-world Large-scale Dataset for Roadside Cooperative Perceptioncited by 37
  14. 2022V2XP-ASG: Generating Adversarial Scenes for Vehicle-to-Everything Perceptioncited by 28
  15. 2021IPS300+: a Challenging Multimodal Dataset for Intersection Perception Systemcited by 26
  16. 2022PillarGrid: Deep Learning-based Cooperative Perception for 3D Object Detection from Onboard-Roadside LiDARcited by 25
  17. 2023InfraDet3D: Multi-Modal 3D Object Detection based on Roadside Infrastructure Camera and LiDAR Sensorscited by 25
  18. 2022DOLPHINS: Dataset for Collaborative Perception enabled Harmonious and Interconnected Self-drivingcited by 21
  19. 2021BAAI-VANJEE Roadside Dataset: Towards the Connected Automated Vehicle Highway technologies in Challenging Environments of Chinacited by 19
  20. 2023Perception Datasets for Anomaly Detection in Autonomous Driving: A Surveycited by 16

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 1; 2025: 6; 2026: 4.

11 papers.

  1. 2025STAMP: Scalable Task And Model-agnostic Collaborative Perceptioncited by 44
  2. 2025V2V-LLM: Vehicle-to-Vehicle Cooperative Autonomous Driving with Multimodal Large Language Modelscited by 27
  3. 2024A Survey on Intermediate Fusion Methods for Collaborative Perception Categorized by Real World Challengescited by 13
  4. 2025Collaborative Perception Datasets for Autonomous Driving: A Reviewcited by 8
  5. 2025SlimComm: Doppler-Guided Sparse Queries for Bandwidth-Efficient Cooperative 3-D Perceptioncited by 5
  6. 2025EffiComm: Bandwidth Efficient Multi Agent Communicationcited by 2
  7. 2025A Synthetic Benchmark for Collaborative 3D Semantic Occupancy Prediction in V2X-Enabled Autonomous Drivingcited by 1
  8. 2026CoopDiff: A Diffusion-Guided Approach for Cooperation under Corruptionscited by 1
  9. 20264D Radar Meets LiDAR and Camera: Cooperative Perception under Adverse Weathercited by 1
  10. 2026Cross-View Urban Traffic Dataset: Drone-Supervised Ground Truth for Monocular Bird's-Eye View Localizationcited by 1
  11. 2026CATNet: Collaborative Alignment and Transformation Network for Cooperative Perceptioncited by 0