mlsanityData to 14 Oct 2026

A Survey on Intermediate Fusion Methods for Collaborative Perception Categorized by Real World Challenges

arXiv 2404.16139 ↗First posted 24 Apr 2024cs.CV cs.ROcited by 13

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Abstract (arXiv)

This survey analyzes intermediate fusion methods in collaborative perception for autonomous driving, categorized by real-world challenges. We examine various methods, detailing their features and the evaluation metrics they employ. The focus is on addressing challenges like transmission efficiency, localization errors, communication disruptions, and heterogeneity. Moreover, we explore strategies to counter adversarial attacks and defenses, as well as approaches to adapt to domain shifts. The objective is to present an overview of how intermediate fusion methods effectively meet these diverse challenges, highlighting their role in advancing the field of collaborative perception in autonomous driving.

Key facts. Cited by 13 papers in the map (data through 14 Oct 2026). Builds on 43 of its 55 references that are in the map. First posted on arXiv 24 Apr 2024.

Builds on

43 of 55 references.

References · 43

  1. 2022V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformercited by 320
  2. 2021OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communicationcited by 304
  3. 2020V2VNet: Vehicle-to-Vehicle Communication for Joint Perception and Predictioncited by 292
  4. 2020Deep Continuous Fusion for Multi-Sensor 3D Object Detectioncited by 263
  5. 2022Where2comm: Communication-Efficient Collaborative Perception via Spatial Confidence Mapscited by 255
  6. 2021Learning Distilled Collaboration Graph for Multi-Agent Perceptioncited by 194
  7. 2019F-Cooper: Feature based Cooperative Perception for Autonomous Vehicle Edge Computing System Using 3D Point Cloudscited by 171
  8. 2019Cooper: Cooperative Perception for Connected Autonomous Vehicles based on 3D Point Cloudscited by 165
  9. 2020When2com: Multi-Agent Perception via Communication Graph Groupingcited by 157
  10. 2022Robust Collaborative 3D Object Detection in Presence of Pose Errorscited by 129
  11. 2020Who2com: Collaborative Perception via Learnable Handshake Communicationcited by 127
  12. 2023Collaborative Perception in Autonomous Driving: Methods, Datasets and Challengescited by 87
31 more
  1. 2022Latency-Aware Collaborative Perceptioncited by 86
  2. 2023Collaboration Helps Camera Overtake LiDAR in 3D Detectioncited by 81
  3. 2023HM-ViT: Hetero-modal Vehicle-to-Vehicle Cooperative perception with vision transformercited by 70
  4. 2022Bridging the Domain Gap for Multi-Agent Perceptioncited by 60
  5. 2023Asynchrony-Robust Collaborative Perception via Bird's Eye View Flowcited by 58
  6. 2023Spatio-Temporal Domain Awareness for Multi-Agent Collaborative Perceptioncited by 52
  7. 2021Adversarial Attacks On Multi-Agent Communicationcited by 49
  8. 2022Learning for Vehicle-to-Vehicle Cooperative Perception under Lossy Communicationcited by 47
  9. 2020Learning to Communicate and Correct Pose Errorscited by 46
  10. 2021Keypoints-Based Deep Feature Fusion for Cooperative Vehicle Detection of Autonomous Drivingcited by 45
  11. 2023CORE: Cooperative Reconstruction for Multi-Agent Perceptioncited by 41
  12. 2023Towards Vehicle-to-everything Autonomous Driving: A Survey on Collaborative Perceptioncited by 38
  13. 2023Among Us: Adversarially Robust Collaborative Perception by Consensuscited by 37
  14. 2023DI-V2X: Learning Domain-Invariant Representation for Vehicle-Infrastructure Collaborative 3D Object Detectioncited by 34
  15. 2023UMC: A Unified Bandwidth-efficient and Multi-resolution based Collaborative Perception Frameworkcited by 29
  16. 2022PillarGrid: Deep Learning-based Cooperative Perception for 3D Object Detection from Onboard-Roadside LiDARcited by 25
  17. 2023Vehicle-Infrastructure Cooperative 3D Object Detection via Feature Flow Predictioncited by 25
  18. 2023Interruption-Aware Cooperative Perception for V2X Communication-Aided Autonomous Drivingcited by 25
  19. 2023BM2CP: Efficient Collaborative Perception with LiDAR-Camera Modalitiescited by 20
  20. 2023S2R-ViT for Multi-Agent Cooperative Perception: Bridging the Gap from Simulation to Realitycited by 18
  21. 2023DUSA: Decoupled Unsupervised Sim2Real Adaptation for Vehicle-to-Everything Collaborative Perceptioncited by 17
  22. 2021Overcoming Obstructions via Bandwidth-Limited Multi-Agent Spatial Handshakingcited by 16
  23. 2023FedBEVT: Federated Learning Bird's Eye View Perception Transformer in Road Traffic Systemscited by 14
  24. 2023VIMI: Vehicle-Infrastructure Multi-view Intermediate Fusion for Camera-based 3D Object Detectioncited by 12
  25. 2023Select2Col: Leveraging Spatial-Temporal Importance of Semantic Information for Efficient Collaborative Perceptioncited by 12
  26. 2023On Data Fabrication in Collaborative Vehicular Perception: Attacks and Countermeasurescited by 11
  27. 2024Collaborative Perception Datasets in Autonomous Driving: A Surveycited by 11
  28. 2023Malicious Agent Detection for Robust Multi-Agent Collaborative Perceptioncited by 8
  29. 2023HPL-ViT: A Unified Perception Framework for Heterogeneous Parallel LiDARs in V2Vcited by 6
  30. 2023Cooperverse: A Mobile-Edge-Cloud Framework for Universal Cooperative Perception with Mixed Connectivity and Automationcited by 3
  31. 2023NLOS Dies Twice: Challenges and Solutions of V2X for Cooperative Perceptioncited by 3

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 1; 2025: 8; 2026: 4.

13 papers.

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  1. 2025Collaborative Perception Datasets for Autonomous Driving: A Reviewcited by 8
  2. 2025SlimComm: Doppler-Guided Sparse Queries for Bandwidth-Efficient Cooperative 3-D Perceptioncited by 5
  3. 2025CoRA: A Collaborative Robust Architecture with Hybrid Fusion for Efficient Perceptioncited by 4
  4. 2025You Share Beliefs, I Adapt: Progressive Heterogeneous Collaborative Perceptioncited by 2
  5. 2025From Features to Reference Points: Lightweight and Adaptive Fusion for Cooperative Autonomous Drivingcited by 1
  6. 2024CollaMamba: Efficient Collaborative Perception with Cross-Agent Spatial-Temporal State Space Modelcited by 0
  7. 2025Wireless Communication as an Information Sensor for Multi-agent Cooperative Perception: A Surveycited by 0
  8. 2025Cooperative Perception: A Resource-Efficient Framework for Multi-Drone 3D Scene Reconstruction Using Federated Diffusion and NeRFcited by 0
  9. 2025Beyond BEV: Optimizing Point-Level Tokens for Collaborative Perceptioncited by 0
  10. 2026CATNet: Collaborative Alignment and Transformation Network for Cooperative Perceptioncited by 0
  11. 2026One Model to Translate Them All: Universal Any-to-Any Translation for Heterogeneous Collaborative Perceptioncited by 0
  12. 2026HMS-SCP: Task-Oriented Multi-Scale Semantic Communication for V2X Cooperative Perceptioncited by 0
1 more
  1. 2026PEARL: A Lightweight Prompt-based Feature Interpreter Framework for Real-Time, Anonymous, and Heterogeneous Collaborative Perceptioncited by 0