mlsanityData to 7 Oct 2026

V2X-R: Cooperative LiDAR-4D Radar Fusion with Denoising Diffusion for 3D Object Detection

arXiv 2411.08402 ↗First posted 13 Nov 2024cs.CVcited by 18

On the map: Diffusion models → 3D, point cloud and scene generation

Abstract (arXiv)

Current Vehicle-to-Everything (V2X) systems have significantly enhanced 3D object detection using LiDAR and camera data. However, these methods suffer from performance degradation in adverse weather conditions. The weather-robust 4D radar provides Doppler and additional geometric information, raising the possibility of addressing this challenge. To this end, we present V2X-R, the first simulated V2X dataset incorporating LiDAR, camera, and 4D radar. V2X-R contains 12,079 scenarios with 37,727 frames of LiDAR and 4D radar point clouds, 150,908 images, and 170,859 annotated 3D vehicle bounding boxes. Subsequently, we propose a novel cooperative LiDAR-4D radar fusion pipeline for 3D object detection and implement it with various fusion strategies. To achieve weather-robust detection, we additionally propose a Multi-modal Denoising Diffusion (MDD) module in our fusion pipeline. MDD utilizes weather-robust 4D radar feature as a condition to prompt the diffusion model to denoise noisy LiDAR features. Experiments show that our LiDAR-4D radar fusion pipeline demonstrates superior performance in the V2X-R dataset. Over and above this, our MDD module further improved the performance of basic fusion model by up to 5.73%/6.70% in foggy/snowy conditions with barely disrupting normal performance. The dataset and code will be publicly available at: https://github.com/ylwhxht/V2X-R.

Key facts. Cited by 18 papers in the map (data through 7 Oct 2026). Placed in 3D, point cloud and scene generation, one of 14 directions in Diffusion models. Builds on 40 of its 59 references that are in the map. First posted on arXiv 13 Nov 2024.

Builds on

40 of 59 references.

References · 40

  1. 2020Denoising Diffusion Probabilistic Modelscited by 20,851
  2. 2015U-Net: Convolutional Networks for Biomedical Image Segmentationcited by 19,604
  3. 2017CARLA: An Open Urban Driving Simulatorcited by 2,431
  4. 2018PointPillars: Fast Encoders for Object Detection from Point Cloudscited by 1,707
  5. 2019PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detectioncited by 890
  6. 2022BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representationcited by 844
  7. 20203DSSD: Point-based 3D Single Stage Object Detectorcited by 440
  8. 2020Voxel R-CNN: Towards High Performance Voxel-based 3D Object Detectioncited by 409
  9. 2022V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformercited by 320
  10. 2021OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communicationcited by 304
  11. 2022DAIR-V2X: A Large-Scale Dataset for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 270
  12. 2022Where2comm: Communication-Efficient Collaborative Perception via Spatial Confidence Mapscited by 255
28 more
  1. 2021PV-RCNN++: Point-Voxel Feature Set Abstraction With Local Vector Representation for 3D Object Detectioncited by 232
  2. 2022CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformerscited by 227
  3. 2019Cooper: Cooperative Perception for Connected Autonomous Vehicles based on 3D Point Cloudscited by 165
  4. 2022V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Drivingcited by 157
  5. 2023V2V4Real: A Real-world Large-scale Dataset for Vehicle-to-Vehicle Cooperative Perceptioncited by 155
  6. 2022Robust Collaborative 3D Object Detection in Presence of Pose Errorscited by 129
  7. 2023DSVT: Dynamic Sparse Voxel Transformer with Rotated Setscited by 122
  8. 2023Benchmarking Robustness of 3D Object Detection to Common Corruptions in Autonomous Drivingcited by 112
  9. 2022K-Radar: 4D Radar Object Detection for Autonomous Driving in Various Weather Conditionscited by 107
  10. 2021Fog Simulation on Real LiDAR Point Clouds for 3D Object Detection in Adverse Weathercited by 95
  11. 2023Virtual Sparse Convolution for Multimodal 3D Object Detectioncited by 81
  12. 2023HM-ViT: Hetero-modal Vehicle-to-Vehicle Cooperative perception with vision transformercited by 70
  13. 2024Communication-Efficient Collaborative Perception via Information Filling with Codebookcited by 67
  14. 2024TUMTraf V2X Cooperative Perception Datasetcited by 66
  15. 2022Transformation-Equivariant 3D Object Detection for Autonomous Drivingcited by 52
  16. 2023Spatio-Temporal Domain Awareness for Multi-Agent Collaborative Perceptioncited by 52
  17. 2024SAFDNet: A Simple and Effective Network for Fully Sparse 3D Object Detectioncited by 52
  18. 2021AdaFusion: Visual-LiDAR Fusion with Adaptive Weights for Place Recognitioncited by 36
  19. 2024L4DR: LiDAR-4DRadar Fusion for Weather-Robust 3D Object Detectioncited by 32
  20. 20234D Millimeter-Wave Radar in Autonomous Driving: A Surveycited by 28
  21. 2023BM2CP: Efficient Collaborative Perception with LiDAR-Camera Modalitiescited by 20
  22. 2024DiffusionMTL: Learning Multi-Task Denoising Diffusion Model from Partially Annotated Datacited by 18
  23. 2024ActiveAnno3D -- An Active Learning Framework for Multi-Modal 3D Object Detectioncited by 17
  24. 2023MACP: Efficient Model Adaptation for Cooperative Perceptioncited by 14
  25. 2024Commonsense Prototype for Outdoor Unsupervised 3D Object Detectioncited by 13
  26. 2024Sunshine to Rainstorm: Cross-Weather Knowledge Distillation for Robust 3D Object Detectioncited by 11
  27. 2023SiCP: Simultaneous Individual and Cooperative Perception for 3D Object Detection in Connected and Automated Vehiclescited by 8
  28. 2023PTT: Point-Trajectory Transformer for Efficient Temporal 3D Object Detectioncited by 8

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2025: 7; 2026: 11.

18 papers.

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  1. 2025AirV2X: Unified Air-Ground Vehicle-to-Everything Collaborationcited by 11
  2. 2025Collaborative Perception Datasets for Autonomous Driving: A Reviewcited by 8
  3. 2025Diffusion Models for Future Networks and Communications: A Comprehensive Surveycited by 6
  4. 2025SlimComm: Doppler-Guided Sparse Queries for Bandwidth-Efficient Cooperative 3-D Perceptioncited by 5
  5. 2025Dynamic Cross-Modal Feature Interaction Network for Hyperspectral and LiDAR Data Classificationcited by 3
  6. 2025Controllable Radar Simulation with Waveform Parameter Embeddingcited by 2
  7. 2026RC-GeoCP: Geometric Consensus for 4D Radar-Camera Collaborative Perceptioncited by 2
  8. 2026WhisperNet: A Scalable Solution for Bandwidth-Efficient Collaborationcited by 2
  9. 2026DSERT-RoLL: Robust Multi-Modal Perception for Diverse Driving Conditions with Stereo Event-RGB-Thermal Cameras, 4D Radar, and Dual-LiDARcited by 2
  10. 2025Progressive Bird's Eye View Perception for Safety-Critical Autonomous Driving: A Comprehensive Surveycited by 1
  11. 2026CoopDiff: A Diffusion-Guided Approach for Cooperation under Corruptionscited by 1
  12. 2026Text-guided Feature Disentanglement for Cross-modal Gait Recognitioncited by 1
6 more
  1. 20264D Radar Meets LiDAR and Camera: Cooperative Perception under Adverse Weathercited by 1
  2. 2026C2E: Boosting Ego-Only 3D Object Detection via Multi-Teacher Contrastive Knowledge Distillationcited by 1
  3. 2026DynaTok: Token-Based 4D Reconstruction from Partial Point Cloudscited by 0
  4. 2026HydraCollab: Adaptive Collaborative-Perception for Distributed Autonomous Systemscited by 0
  5. 2026VIPS: Vehicle-Infrastructure Cooperative Planning Benchmark via Pseudo-Simulationcited by 0
  6. 2026ESAFusion: LiDAR--4-D Radar Fusion via Local Geometric Complementation and Multiscale Adaptive Interaction for 3-D Object Detectioncited by 0

Similar, not cited

Close in wording, no citation either way

  1. 20233DifFusionDet: Diffusion Model for 3D Object Detection with Robust LiDAR-Camera Fusion
  2. 2026Open-Weather Robust 3D Detection via Dual-Critic Diffusion Alignment
  3. 2025Diffusion-Based Restoration for Multi-Modal 3D Object Detection in Adverse Weather
  4. 2025M^3Detection: Multi-Frame Multi-Level Feature Fusion for Multi-Modal 3D Object Detection with Camera and 4D Imaging Radar
  5. 2025TRIDE: A Text-assisted Radar-Image weather-aware fusion network for Depth Estimation
  6. 2025RadarSFD: Single-Frame Diffusion with Pretrained Priors for Radar Point Clouds
  7. 2026R3D: Regional-guided Residual Radar Diffusion
  8. 2025R2LDM: An Efficient 4D Radar Super-Resolution Framework Leveraging Diffusion Model