mlsanityData to 14 Oct 2026

UAV3D: A Large-scale 3D Perception Benchmark for Unmanned Aerial Vehicles

arXiv 2410.11125 ↗First posted 14 Oct 2024cs.CVcited by 16

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Abstract (arXiv)

Unmanned Aerial Vehicles (UAVs), equipped with cameras, are employed in numerous applications, including aerial photography, surveillance, and agriculture. In these applications, robust object detection and tracking are essential for the effective deployment of UAVs. However, existing benchmarks for UAV applications are mainly designed for traditional 2D perception tasks, restricting the development of real-world applications that require a 3D understanding of the environment. Furthermore, despite recent advancements in single-UAV perception, limited views of a single UAV platform significantly constrain its perception capabilities over long distances or in occluded areas. To address these challenges, we introduce UAV3D, a benchmark designed to advance research in both 3D and collaborative 3D perception tasks with UAVs. UAV3D comprises 1,000 scenes, each of which has 20 frames with fully annotated 3D bounding boxes on vehicles. We provide the benchmark for four 3D perception tasks: single-UAV 3D object detection, single-UAV object tracking, collaborative-UAV 3D object detection, and collaborative-UAV object tracking. Our dataset and code are available at https://huiyegit.github.io/UAV3D_Benchmark/.

Key facts. Cited by 16 papers in the map (data through 14 Oct 2026). Builds on 31 of its 35 references that are in the map. First posted on arXiv 14 Oct 2024.

Builds on

31 of 35 references.

References · 31

  1. 2014Microsoft COCO: Common Objects in Contextcited by 17,608
  2. 2021Swin Transformer: Hierarchical Vision Transformer using Shifted Windowscited by 12,139
  3. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,523
  4. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,451
  5. 2017CARLA: An Open Urban Driving Simulatorcited by 2,449
  6. 2022BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representationcited by 850
  7. 2021DETR3D: 3D Object Detection from Multi-view Images via 3D-to-2D Queriescited by 658
  8. 2022PETR: Position Embedding Transformation for Multi-View 3D Object Detectioncited by 552
  9. 2017AirSim: High-Fidelity Visual and Physical Simulation for Autonomous Vehiclescited by 523
  10. 2022PETRv2: A Unified Framework for 3D Perception from Multi-Camera Imagescited by 352
  11. 2022V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformercited by 320
  12. 2023Exploring Object-Centric Temporal Modeling for Efficient Multi-View 3D Object Detectioncited by 315
19 more
  1. 2021OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communicationcited by 304
  2. 2020V2VNet: Vehicle-to-Vehicle Communication for Joint Perception and Predictioncited by 292
  3. 2022DAIR-V2X: A Large-Scale Dataset for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 273
  4. 2022Where2comm: Communication-Efficient Collaborative Perception via Spatial Confidence Mapscited by 255
  5. 2018The Unmanned Aerial Vehicle Benchmark: Object Detection and Trackingcited by 208
  6. 2021Learning Distilled Collaboration Graph for Multi-Agent Perceptioncited by 194
  7. 2020When2com: Multi-Agent Perception via Communication Graph Groupingcited by 157
  8. 2022V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Drivingcited by 157
  9. 2023V2V4Real: A Real-world Large-scale Dataset for Vehicle-to-Vehicle Cooperative Perceptioncited by 155
  10. 2023SparseBEV: High-Performance Sparse 3D Object Detection from Multi-Camera Videoscited by 150
  11. 2020Who2com: Collaborative Perception via Learnable Handshake Communicationcited by 127
  12. 2023Sparse4D v2: Recurrent Temporal Fusion with Sparse Modelcited by 93
  13. 2018Vision Meets Drones: A Challengecited by 81
  14. 2024TUMTraf V2X Cooperative Perception Datasetcited by 67
  15. 2024V2X-Real: a Large-Scale Dataset for Vehicle-to-Everything Cooperative Perceptioncited by 66
  16. 2024RCooper: A Real-world Large-scale Dataset for Roadside Cooperative Perceptioncited by 38
  17. 2023BEVNeXt: Reviving Dense BEV Frameworks for 3D Object Detectioncited by 35
  18. 2023S2R-ViT for Multi-Agent Cooperative Perception: Bridging the Gap from Simulation to Realitycited by 18
  19. 2024HoloVIC: Large-scale Dataset and Benchmark for Multi-Sensor Holographic Intersection and Vehicle-Infrastructure Cooperativecited by 14

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2025: 9; 2026: 7.

16 papers.

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  1. 2025Griffin: Aerial-Ground Cooperative Detection and Tracking Dataset and Benchmarkcited by 15
  2. 2025AirV2X: Unified Air-Ground Vehicle-to-Everything Collaborationcited by 11
  3. 2026α3-Bench: A Unified Benchmark of Safety, Robustness, and Efficiency for LLM-Based UAV Agents over 6G Networkscited by 10
  4. 2025OccuFly: A 3D Vision Benchmark for Semantic Scene Completion from the Aerial Perspectivecited by 5
  5. 2025Forging Spatial Intelligence: A Roadmap of Multi-Modal Data Pre-Training for Autonomous Systemscited by 4
  6. 2025UAV-VL-R1: Generalizing Vision-Language Models via Supervised Fine-Tuning and Multi-Stage GRPO for UAV Visual Reasoningcited by 3
  7. 2025Embodied4C: Measuring What Matters for Embodied Vision-Language Navigationcited by 3
  8. 2026V2U4Real: A Real-world Large-scale Dataset for Vehicle-to-UAV Cooperative Perceptioncited by 2
  9. 2025Is Intermediate Fusion All You Need for UAV-based Collaborative Perception?cited by 1
  10. 2025Probabilistic Hyper-Graphs using Multiple Randomly Masked Autoencoders for Semi-supervised Multi-modal Multi-task Learningcited by 1
  11. 2026AeroDGS: Physically Consistent Dynamic Gaussian Splatting for Single-Sequence Aerial 4D Reconstructioncited by 1
  12. 2025AdaptFly: Prompt-Guided Adaptation of Foundation Models for Low-Altitude UAV Networkscited by 0
4 more
  1. 2026SkyShield: Occupancy as a Safety Interface for Low-Altitude UAV Autonomycited by 0
  2. 2026CAMF-Det: Closure-Aware Multimodal Fusion for LiDAR-Camera 3D Object Detection on UAV Platformscited by 0
  3. 2026HydraCollab: Adaptive Collaborative-Perception for Distributed Autonomous Systemscited by 0
  4. 2026CERF: Communication-Efficient and Retraining-Free Collaborative Perceptioncited by 0