# Semantic Communication for Cooperative Perception using HARQ

arXiv: https://arxiv.org/abs/2409.09042 · HTML: https://mlsanity.com/paper/2409.09042/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 27 of its 40 references that are in the map.
- First posted on arXiv 29 Aug 2024.

## Builds on (most cited first, 27 of 27)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [Very Deep Convolutional Networks for Large-Scale Image Recognition](https://mlsanity.com/paper/1409.1556/) (2014)
- [SSD: Single Shot MultiBox Detector](https://mlsanity.com/paper/1512.02325/) (2015)
- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [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)
- [V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformer](https://mlsanity.com/paper/2203.10638/) (2022)
- [OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communication](https://mlsanity.com/paper/2109.07644/) (2021)
- [MAXIM: Multi-Axis MLP for Image Processing](https://mlsanity.com/paper/2201.02973/) (2022)
- [Deep Learning Enabled Semantic Communication Systems](https://mlsanity.com/paper/2006.10685/) (2020)
- [Where2comm: Communication-Efficient Collaborative Perception via Spatial Confidence Maps](https://mlsanity.com/paper/2209.12836/) (2022)
- [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)
- [When2com: Multi-Agent Perception via Communication Graph Grouping](https://mlsanity.com/paper/2006.00176/) (2020)
- [Who2com: Collaborative Perception via Learnable Handshake Communication](https://mlsanity.com/paper/2003.09575/) (2020)
- [Cooperative Perception for 3D Object Detection in Driving Scenarios using Infrastructure Sensors](https://mlsanity.com/paper/1912.12147/) (2019)
- [DeepJSCC-f: Deep Joint Source-Channel Coding of Images with Feedback](https://mlsanity.com/paper/1911.11174/) (2019)
- [Deep Learning for Joint Source-Channel Coding of Text](https://mlsanity.com/paper/1802.06832/) (2018)
- [Wireless Semantic Communications for Video Conferencing](https://mlsanity.com/paper/2204.07790/) (2022)
- [Learning for Vehicle-to-Vehicle Cooperative Perception under Lossy Communication](https://mlsanity.com/paper/2212.08273/) (2022)
- [DeepWiVe: Deep-Learning-Aided Wireless Video Transmission](https://mlsanity.com/paper/2111.13034/) (2021)
- [DeepJSCC-Q: Constellation Constrained Deep Joint Source-Channel Coding](https://mlsanity.com/paper/2206.08100/) (2022)
- [Multi-Robot Collaborative Perception with Graph Neural Networks](https://mlsanity.com/paper/2201.01760/) (2022)
- [Deep Source-Channel Coding for Sentence Semantic Transmission with HARQ](https://mlsanity.com/paper/2106.03009/) (2021)
- [Adaptive Bit Rate Control in Semantic Communication with Incremental Knowledge-based HARQ](https://mlsanity.com/paper/2203.06634/) (2022)
- [Semantic Communication for Cooperative Perception based on Importance Map](https://mlsanity.com/paper/2311.06498/) (2023)

## Built on by (most cited first, 2 of 2)

- [A Survey on Semantic Communications in Internet of Vehicles](https://mlsanity.com/paper/2503.03767/) (2025)
- [Generative Semantic HARQ: Latent-Space Text Retransmission and Combining](https://mlsanity.com/paper/2603.15068/) (2026)

## Abstract (arXiv)

Cooperative perception, offering a wider field of view than standalone perception, is becoming increasingly crucial in autonomous driving. This perception is enabled through vehicle-to-vehicle (V2V) communication, allowing connected automated vehicles (CAVs) to exchange sensor data, such as light detection and ranging (LiDAR) point clouds, thereby enhancing the collective understanding of the environment. In this paper, we leverage an importance map to distill critical semantic information, introducing a cooperative perception semantic communication framework that employs intermediate fusion. To counter the challenges posed by time-varying multipath fading, our approach incorporates the use of orthogonal frequency-division multiplexing (OFDM) along with channel estimation and equalization strategies. Furthermore, recognizing the necessity for reliable transmission, especially in the low SNR scenarios, we introduce a novel semantic error detection method that is integrated with our semantic communication framework in the spirit of hybrid automatic repeated request (HARQ). Simulation results show that our model surpasses the traditional separate source-channel coding methods in perception performance, both with and without HARQ. Additionally, in terms of throughput, our proposed HARQ schemes demonstrate superior efficiency to the conventional coding approaches.