# The Components of Collaborative Joint Perception and Prediction -- A Conceptual Framework

arXiv: https://arxiv.org/abs/2501.15860 · HTML: https://mlsanity.com/paper/2501.15860/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 18 of its 31 references that are in the map.
- First posted on arXiv 27 Jan 2025.

## Builds on (most cited first, 18 of 18)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detection](https://mlsanity.com/paper/1711.06396/) (2017)
- [Large Scale Interactive Motion Forecasting for Autonomous Driving : The Waymo Open Motion Dataset](https://mlsanity.com/paper/2104.10133/) (2021)
- [V2VNet: Vehicle-to-Vehicle Communication for Joint Perception and Prediction](https://mlsanity.com/paper/2008.07519/) (2020)
- [F-Cooper: Feature based Cooperative Perception for Autonomous Vehicle Edge Computing System Using 3D Point Clouds](https://mlsanity.com/paper/1909.06459/) (2019)
- [PnPNet: End-to-End Perception and Prediction with Tracking in the Loop](https://mlsanity.com/paper/2005.14711/) (2020)
- [ViP3D: End-to-end Visual Trajectory Prediction via 3D Agent Queries](https://mlsanity.com/paper/2208.01582/) (2022)
- [V2X-Seq: A Large-Scale Sequential Dataset for Vehicle-Infrastructure Cooperative Perception and Forecasting](https://mlsanity.com/paper/2305.05938/) (2023)
- [Collaboration Helps Camera Overtake LiDAR in 3D Detection](https://mlsanity.com/paper/2303.13560/) (2023)
- [DeepAccident: A Motion and Accident Prediction Benchmark for V2X Autonomous Driving](https://mlsanity.com/paper/2304.01168/) (2023)
- [A Survey on Deep Domain Adaptation for LiDAR Perception](https://mlsanity.com/paper/2106.02377/) (2021)
- [CORE: Cooperative Reconstruction for Multi-Agent Perception](https://mlsanity.com/paper/2307.11514/) (2023)
- [DI-V2X: Learning Domain-Invariant Representation for Vehicle-Infrastructure Collaborative 3D Object Detection](https://mlsanity.com/paper/2312.15742/) (2023)
- [UMC: A Unified Bandwidth-efficient and Multi-resolution based Collaborative Perception Framework](https://mlsanity.com/paper/2303.12400/) (2023)
- [Forecasting from LiDAR via Future Object Detection](https://mlsanity.com/paper/2203.16297/) (2022)
- [Machine Learning for Autonomous Vehicle's Trajectory Prediction: A comprehensive survey, Challenges, and Future Research Directions](https://mlsanity.com/paper/2307.07527/) (2023)
- [Towards Motion Forecasting with Real-World Perception Inputs: Are End-to-End Approaches Competitive?](https://mlsanity.com/paper/2306.09281/) (2023)
- [HPL-ViT: A Unified Perception Framework for Heterogeneous Parallel LiDARs in V2V](https://mlsanity.com/paper/2309.15572/) (2023)

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

- [VALISENS: A Validated Innovative Multi-Sensor System for Cooperative Automated Driving](https://mlsanity.com/paper/2505.06980/) (2025)
- [Towards Collaborative Joint Perception and Prediction: Framework, Baseline Evaluation, and Deployment Perspectives](https://mlsanity.com/paper/2608.09541/) (2026)

## Abstract (arXiv)

Connected Autonomous Vehicles (CAVs) benefit from Vehicle-to-Everything (V2X) communication, which enables the exchange of sensor data to achieve Collaborative Perception (CP). To reduce cumulative errors in perception modules and mitigate the visual occlusion, this paper introduces a new task, Collaborative Joint Perception and Prediction (Co-P&P), and provides a conceptual framework for its implementation to improve motion prediction of surrounding objects, thereby enhancing vehicle awareness in complex traffic scenarios. The framework consists of two decoupled core modules, Collaborative Scene Completion (CSC) and Joint Perception and Prediction (P&P) module, which simplify practical deployment and enhance scalability. Additionally, we outline the challenges in Co-P&P and discuss future directions for this research area.