mlsanityData to 14 Oct 2026

Mixed Signals: A Diverse Point Cloud Dataset for Heterogeneous LiDAR V2X Collaboration

arXiv 2502.14156 ↗First posted 19 Feb 2025cs.CVcited by 5

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Abstract (arXiv)

Vehicle-to-everything (V2X) collaborative perception has emerged as a promising solution to address the limitations of single-vehicle perception systems. However, existing V2X datasets are limited in scope, diversity, and quality. To address these gaps, we present Mixed Signals, a comprehensive V2X dataset featuring 45.1k point clouds and 240.6k bounding boxes collected from three connected autonomous vehicles (CAVs) equipped with two different configurations of LiDAR sensors, plus a roadside unit with dual LiDARs. Our dataset provides point clouds and bounding box annotations across 10 classes, ensuring reliable data for perception training. We provide detailed statistical analysis on the quality of our dataset and extensively benchmark existing V2X methods on it. The Mixed Signals dataset is ready-to-use, with precise alignment and consistent annotations across time and viewpoints. Dataset website is available at https://mixedsignalsdataset.cs.cornell.edu/.

Key facts. Cited by 5 papers in the map (data through 14 Oct 2026). Builds on 33 of its 50 references that are in the map. First posted on arXiv 19 Feb 2025.

Builds on

33 of 50 references.

References · 33

  1. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,523
  2. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,451
  3. 2017CARLA: An Open Urban Driving Simulatorcited by 2,449
  4. 2018PointPillars: Fast Encoders for Object Detection from Point Cloudscited by 1,715
  5. 2020Center-based 3D Object Detection and Trackingcited by 1,144
  6. 2022Planning-oriented Autonomous Drivingcited by 1,087
  7. 2019Argoverse: 3D Tracking and Forecasting with Rich Mapscited by 732
  8. 2019A Survey of Autonomous Driving: Common Practices and Emerging Technologiescited by 379
  9. 2022ST-P3: End-to-end Vision-based Autonomous Driving via Spatial-Temporal Feature Learningcited by 368
  10. 2022V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformercited by 320
  11. 2021OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communicationcited by 304
  12. 2020V2VNet: Vehicle-to-Vehicle Communication for Joint Perception and Predictioncited by 292
21 more
  1. 2022DAIR-V2X: A Large-Scale Dataset for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 273
  2. 2022Where2comm: Communication-Efficient Collaborative Perception via Spatial Confidence Mapscited by 255
  3. 2021One Million Scenes for Autonomous Driving: ONCE Datasetcited by 218
  4. 2021Learning Distilled Collaboration Graph for Multi-Agent Perceptioncited by 194
  5. 2021PandaSet: Advanced Sensor Suite Dataset for Autonomous Drivingcited by 190
  6. 2020LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mappingcited by 188
  7. 2019F-Cooper: Feature based Cooperative Perception for Autonomous Vehicle Edge Computing System Using 3D Point Cloudscited by 171
  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. 2022Robust Collaborative 3D Object Detection in Presence of Pose Errorscited by 129
  11. 2023V2X-Seq: A Large-Scale Sequential Dataset for Vehicle-Infrastructure Cooperative Perception and Forecastingcited by 114
  12. 2020Canadian Adverse Driving Conditions Datasetcited by 87
  13. 2024TUMTraf V2X Cooperative Perception Datasetcited by 67
  14. 2024V2X-Real: a Large-Scale Dataset for Vehicle-to-Everything Cooperative Perceptioncited by 66
  15. 2022Ithaca365: Dataset and Driving Perception under Repeated and Challenging Weather Conditionscited by 48
  16. 2022Learning for Vehicle-to-Vehicle Cooperative Perception under Lossy Communicationcited by 47
  17. 2024RCooper: A Real-world Large-scale Dataset for Roadside Cooperative Perceptioncited by 38
  18. 2020A Survey on Autonomous Vehicle Control in the Era of Mixed-Autonomy: From Physics-Based to AI-Guided Driving Policy Learningcited by 25
  19. 2024Multiagent Multitraversal Multimodal Self-Driving: Open MARS Datasetcited by 18
  20. 2024HoloVIC: Large-scale Dataset and Benchmark for Multi-Sensor Holographic Intersection and Vehicle-Infrastructure Cooperativecited by 14
  21. 2023Practical Collaborative Perception: A Framework for Asynchronous and Multi-Agent 3D Object Detectioncited by 6

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2025: 2; 2026: 3.

5 papers.

  1. 2025Collaborative Perception Datasets for Autonomous Driving: A Reviewcited by 8
  2. 2025Progressive Bird's Eye View Perception for Safety-Critical Autonomous Driving: A Comprehensive Surveycited by 1
  3. 2026CMU-Drive and V2V-VLA: Cooperative Multi-agent Unified Driving with Reasoning Benchmark and Vehicle-to-Vehicle Vision-Language-Action Modelscited by 1
  4. 2026When the City Teaches the Car: Label-Free 3D Perception from Infrastructurecited by 0
  5. 2026VIPS: Vehicle-Infrastructure Cooperative Planning Benchmark via Pseudo-Simulationcited by 0