mlsanityData to 14 Oct 2026

Communication-Efficient Collaborative Perception via Information Filling with Codebook

arXiv 2405.04966 ↗First posted 8 May 2024cs.IT cs.CV cs.MAcited by 68

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Abstract (arXiv)

Collaborative perception empowers each agent to improve its perceptual ability through the exchange of perceptual messages with other agents. It inherently results in a fundamental trade-off between perception ability and communication cost. To address this bottleneck issue, our core idea is to optimize the collaborative messages from two key aspects: representation and selection. The proposed codebook-based message representation enables the transmission of integer codes, rather than high-dimensional feature maps. The proposed information-filling-driven message selection optimizes local messages to collectively fill each agent's information demand, preventing information overflow among multiple agents. By integrating these two designs, we propose CodeFilling, a novel communication-efficient collaborative perception system, which significantly advances the perception-communication trade-off and is inclusive to both homogeneous and heterogeneous collaboration settings. We evaluate CodeFilling in both a real-world dataset, DAIR-V2X, and a new simulation dataset, OPV2VH+. Results show that CodeFilling outperforms previous SOTA Where2comm on DAIR-V2X/OPV2VH+ with 1,333/1,206 times lower communication volume. Our code is available at https://github.com/PhyllisH/CodeFilling.

Key facts. Cited by 68 papers in the map (data through 14 Oct 2026). Builds on 35 of its 48 references that are in the map. First posted on arXiv 8 May 2024.

Builds on

35 of 48 references.

References · 35

  1. 2017CARLA: An Open Urban Driving Simulatorcited by 2,449
  2. 2015Deep Compression: Compressing Deep Neural Networks with Pruning, Trained Quantization and Huffman Codingcited by 2,329
  3. 2018PointPillars: Fast Encoders for Object Detection from Point Cloudscited by 1,715
  4. 2019Objects as Pointscited by 1,175
  5. 2021Categorical Depth Distribution Network for Monocular 3D Object Detectioncited by 327
  6. 2022V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformercited by 320
  7. 2021OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communicationcited by 304
  8. 2020V2VNet: Vehicle-to-Vehicle Communication for Joint Perception and Predictioncited by 292
  9. 2022DAIR-V2X: A Large-Scale Dataset for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 273
  10. 2022Where2comm: Communication-Efficient Collaborative Perception via Spatial Confidence Mapscited by 255
  11. 2022CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformerscited by 227
  12. 2021Learning Distilled Collaboration Graph for Multi-Agent Perceptioncited by 194
23 more
  1. 2019F-Cooper: Feature based Cooperative Perception for Autonomous Vehicle Edge Computing System Using 3D Point Cloudscited by 171
  2. 2020When2com: Multi-Agent Perception via Communication Graph Groupingcited by 157
  3. 2023V2V4Real: A Real-world Large-scale Dataset for Vehicle-to-Vehicle Cooperative Perceptioncited by 155
  4. 2022Robust Collaborative 3D Object Detection in Presence of Pose Errorscited by 129
  5. 2020Who2com: Collaborative Perception via Learnable Handshake Communicationcited by 127
  6. 2023V2X-Seq: A Large-Scale Sequential Dataset for Vehicle-Infrastructure Cooperative Perception and Forecastingcited by 114
  7. 2024An Extensible Framework for Open Heterogeneous Collaborative Perceptioncited by 87
  8. 2022Latency-Aware Collaborative Perceptioncited by 86
  9. 2023Collaboration Helps Camera Overtake LiDAR in 3D Detectioncited by 81
  10. 2023HM-ViT: Hetero-modal Vehicle-to-Vehicle Cooperative perception with vision transformercited by 70
  11. 20203D Point Cloud Processing and Learning for Autonomous Drivingcited by 68
  12. 2022Bridging the Domain Gap for Multi-Agent Perceptioncited by 60
  13. 2023Asynchrony-Robust Collaborative Perception via Bird's Eye View Flowcited by 58
  14. 2023Spatio-Temporal Domain Awareness for Multi-Agent Collaborative Perceptioncited by 52
  15. 2020Learning to Communicate and Correct Pose Errorscited by 46
  16. 2022Uncertainty Quantification of Collaborative Detection for Self-Drivingcited by 46
  17. 2020End-to-end Learning of Compressible Featurescited by 43
  18. 2023CORE: Cooperative Reconstruction for Multi-Agent Perceptioncited by 41
  19. 2023Among Us: Adversarially Robust Collaborative Perception by Consensuscited by 37
  20. 2023UMC: A Unified Bandwidth-efficient and Multi-resolution based Collaborative Perception Frameworkcited by 29
  21. 2022V2XP-ASG: Generating Adversarial Scenes for Vehicle-to-Everything Perceptioncited by 28
  22. 2022Aerial Monocular 3D Object Detectioncited by 23
  23. 2023S2R-ViT for Multi-Agent Cooperative Perception: Bridging the Gap from Simulation to Realitycited by 18

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 6; 2025: 28; 2026: 34.

68 papers.

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  1. 2025CoSDH: Communication-Efficient Collaborative Perception via Supply-Demand Awareness and Intermediate-Late Hybridizationcited by 28
  2. 2024V2X-R: Cooperative LiDAR-4D Radar Fusion with Denoising Diffusion for 3D Object Detectioncited by 18
  3. 2024One is Plenty: A Polymorphic Feature Interpreter for Immutable Heterogeneous Collaborative Perceptioncited by 15
  4. 2024DSRC: Learning Density-insensitive and Semantic-aware Collaborative Representation against Corruptionscited by 13
  5. 2025CoCMT: Communication-Efficient Cross-Modal Transformer for Collaborative Perceptioncited by 13
  6. 2025CoopTrack: Exploring End-to-End Learning for Efficient Cooperative Sequential Perceptioncited by 12
  7. 2025QuantV2X: A Fully Quantized Multi-Agent System for Cooperative Perceptioncited by 11
  8. 2024Adver-City: Open-Source Multi-Modal Dataset for Collaborative Perception Under Adverse Weather Conditionscited by 9
  9. 2025SenseRAG: Constructing Environmental Knowledge Bases with Proactive Querying for LLM-Based Autonomous Drivingcited by 9
  10. 2025Pragmatic Heterogeneous Collaborative Perception via Generative Communication Mechanismcited by 9
  11. 2025CoPEFT: Fast Adaptation Framework for Multi-Agent Collaborative Perception with Parameter-Efficient Fine-Tuningcited by 7
  12. 2025Learning to Detect Objects from Multi-Agent LiDAR Scans without Manual Labelscited by 7
38 more
  1. 2025A Survey of Multi-sensor Fusion Perception for Embodied AI: Background, Methods, Challenges and Prospectscited by 5
  2. 2025INSTINCT: Instance-Level Interaction Architecture for Query-Based Collaborative Perceptioncited by 5
  3. 2025NegoCollab: A Common Representation Negotiation Approach for Heterogeneous Collaborative Perceptioncited by 5
  4. 2025Spatial Retrieval Augmented Autonomous Drivingcited by 5
  5. 2024RS-DFM: A Remote Sensing Distributed Foundation Model for Diverse Downstream Taskscited by 4
  6. 2024Learning 3D Perception from Others' Predictionscited by 4
  7. 2025Which2comm: An Efficient Collaborative Perception Framework for 3D Object Detectioncited by 4
  8. 2025SparseCoop: Cooperative Perception with Kinematic-Grounded Queriescited by 4
  9. 2025CoRA: A Collaborative Robust Architecture with Hybrid Fusion for Efficient Perceptioncited by 4
  10. 2026EIMC: Efficient Instance-aware Multi-modal Collaborative Perceptioncited by 4
  11. 2025Residual Vector Quantization For Communication-Efficient Multi-Agent Perceptioncited by 3
  12. 2025InfoCom: Kilobyte-Scale Communication-Efficient Collaborative Perception with Information Bottleneckcited by 3
  13. 2025JigsawComm: Joint Semantic Feature Encoding and Transmission for Communication-Efficient Cooperative Perceptioncited by 2
  14. 2025FocalComm: Hard Instance-Aware Multi-Agent Perceptioncited by 2
  15. 2026Linking Modality Isolation in Heterogeneous Collaborative Perceptioncited by 2
  16. 2026RC-GeoCP: Geometric Consensus for 4D Radar-Camera Collaborative Perceptioncited by 2
  17. 2026WhisperNet: A Scalable Solution for Bandwidth-Efficient Collaborationcited by 2
  18. 2026Faster-HEAL: An Efficient and Privacy-Preserving Collaborative Perception Framework for Heterogeneous Autonomous Vehiclescited by 2
  19. 2025Is Intermediate Fusion All You Need for UAV-based Collaborative Perception?cited by 1
  20. 2025Rate-Distortion Optimized Communication for Collaborative Perceptioncited by 1
  21. 2025Background Fades, Foreground Leads: Curriculum-Guided Background Pruning for Efficient Foreground-Centric Collaborative Perceptioncited by 1
  22. 2025V2VLoc: Robust GNSS-Free Collaborative Perception via LiDAR Localizationcited by 1
  23. 2025From Features to Reference Points: Lightweight and Adaptive Fusion for Cooperative Autonomous Drivingcited by 1
  24. 2026V2X-DSC: Multi-Agent Collaborative Perception with Distributed Source Coding Guided Communicationcited by 1
  25. 2026CoopDiff: A Diffusion-Guided Approach for Cooperation under Corruptionscited by 1
  26. 2026Long-SCOPE: Fully Sparse Long-Range Cooperative 3D Perceptioncited by 1
  27. 2026BOLT: Online Lightweight Adaptation for Preparation-Free Heterogeneous Cooperative Perceptioncited by 1
  28. 2026Sparse-Aware Vector Quantization for Bandwidth-Efficient Collaborative 3D Semantic Occupancy Predictioncited by 1
  29. 2026Dense Coverage, Sparse Refinement: Byte-Constrained Cooperative Perceptioncited by 1
  30. 2025Wireless Communication as an Information Sensor for Multi-agent Cooperative Perception: A Surveycited by 0
  31. 2025DATA: Domain-And-Time Alignment for High-Quality Feature Fusion in Collaborative Perceptioncited by 0
  32. 2025Privacy-Aware Sharing of Raw Spatial Sensor Data for Cooperative Perceptioncited by 0
  33. 2025End-to-End 3-D Spatiotemporal Perception with Multimodal Fusion and V2X Collaborationcited by 0
  34. 2026Send Less, Perceive More: Masked Quantized Point Cloud Communication for Loss-Tolerant Collaborative Perceptioncited by 0
  35. 2026CoLC: Communication-Efficient Collaborative Perception with LiDAR Completioncited by 0
  36. 2026All Vehicles Can Lie: Efficient Adversarial Defense in Fully Untrusted-Vehicle Collaborative Perception via Pseudo-Random Bayesian Inferencecited by 0
  37. 2026WaveComm: Lightweight Communication for Collaborative Perception via Wavelet Feature Distillationcited by 0
  38. 2026When the City Teaches the Car: Label-Free 3D Perception from Infrastructurecited by 0

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