mlsanityData to 7 Oct 2026

CoopDETR: A Unified Cooperative Perception Framework for 3D Detection via Object Query

arXiv 2502.19313 ↗First posted 26 Feb 2025cs.CVcited by 9

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Abstract (arXiv)

Cooperative perception enhances the individual perception capabilities of autonomous vehicles (AVs) by providing a comprehensive view of the environment. However, balancing perception performance and transmission costs remains a significant challenge. Current approaches that transmit region-level features across agents are limited in interpretability and demand substantial bandwidth, making them unsuitable for practical applications. In this work, we propose CoopDETR, a novel cooperative perception framework that introduces object-level feature cooperation via object query. Our framework consists of two key modules: single-agent query generation, which efficiently encodes raw sensor data into object queries, reducing transmission cost while preserving essential information for detection; and cross-agent query fusion, which includes Spatial Query Matching (SQM) and Object Query Aggregation (OQA) to enable effective interaction between queries. Our experiments on the OPV2V and V2XSet datasets demonstrate that CoopDETR achieves state-of-the-art performance and significantly reduces transmission costs to 1/782 of previous methods.

Key facts. Cited by 9 papers in the map (data through 7 Oct 2026). Builds on 35 of its 43 references that are in the map. First posted on arXiv 26 Feb 2025.

Builds on

35 of 43 references.

References · 35

  1. 2017Attention Is All You Needcited by 59,932
  2. 2020End-to-End Object Detection with Transformerscited by 7,384
  3. 2016Feature Pyramid Networks for Object Detectioncited by 5,021
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  5. 2020Deformable DETR: Deformable Transformers for End-to-End Object Detectioncited by 3,410
  6. 2017CARLA: An Open Urban Driving Simulatorcited by 2,431
  7. 2018PointPillars: Fast Encoders for Object Detection from Point Cloudscited by 1,707
  8. 2022BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformerscited by 1,213
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  10. 2021DETR3D: 3D Object Detection from Multi-view Images via 3D-to-2D Queriescited by 655
  11. 2021TrackFormer: Multi-Object Tracking with Transformerscited by 515
  12. 2021MOTR: End-to-End Multiple-Object Tracking with Transformercited by 379
23 more
  1. 2022V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformercited by 320
  2. 2021OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communicationcited by 304
  3. 2022BEVFormer v2: Adapting Modern Image Backbones to Bird's-Eye-View Recognition via Perspective Supervisioncited by 302
  4. 2020V2VNet: Vehicle-to-Vehicle Communication for Joint Perception and Predictioncited by 292
  5. 2022DAIR-V2X: A Large-Scale Dataset for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 270
  6. 2022Where2comm: Communication-Efficient Collaborative Perception via Spatial Confidence Mapscited by 255
  7. 2022CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformerscited by 227
  8. 2022FUTR3D: A Unified Sensor Fusion Framework for 3D Detectioncited by 194
  9. 2019Cooper: Cooperative Perception for Connected Autonomous Vehicles based on 3D Point Cloudscited by 165
  10. 2020When2com: Multi-Agent Perception via Communication Graph Groupingcited by 157
  11. 2022BEVSegFormer: Bird's Eye View Semantic Segmentation From Arbitrary Camera Rigscited by 123
  12. 2022COOPERNAUT: End-to-End Driving with Cooperative Perception for Networked Vehiclescited by 95
  13. 2022MUTR3D: A Multi-camera Tracking Framework via 3D-to-2D Queriescited by 90
  14. 2023Collaborative Perception in Autonomous Driving: Methods, Datasets and Challengescited by 87
  15. 2023Collaboration Helps Camera Overtake LiDAR in 3D Detectioncited by 81
  16. 2023Asynchrony-Robust Collaborative Perception via Bird's Eye View Flowcited by 58
  17. 2023Standing Between Past and Future: Spatio-Temporal Modeling for Multi-Camera 3D Multi-Object Trackingcited by 54
  18. 2022Model-Agnostic Multi-Agent Perception Frameworkcited by 51
  19. 2024End-to-End Autonomous Driving through V2X Cooperationcited by 42
  20. 2023Towards Vehicle-to-everything Autonomous Driving: A Survey on Collaborative Perceptioncited by 38
  21. 2023Vehicle-Infrastructure Cooperative 3D Object Detection via Feature Flow Predictioncited by 25
  22. 2022CO^3: Cooperative Unsupervised 3D Representation Learning for Autonomous Drivingcited by 15
  23. 2024EMIFF: Enhanced Multi-scale Image Feature Fusion for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 9

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2025: 5; 2026: 4.

9 papers.

  1. 2025Research Challenges and Progress in the End-to-End V2X Cooperative Autonomous Driving Competitioncited by 9
  2. 2025M3CAD: Towards Generic Cooperative Autonomous Driving Benchmarkcited by 5
  3. 2025SparseCoop: Cooperative Perception with Kinematic-Grounded Queriescited by 4
  4. 2025Beyond Blanket Masking: Examining Granularity for Privacy Protection in Images Captured by Blind and Low Vision Userscited by 2
  5. 2025Background Fades, Foreground Leads: Curriculum-Guided Background Pruning for Efficient Foreground-Centric Collaborative Perceptioncited by 1
  6. 2026Long-SCOPE: Fully Sparse Long-Range Cooperative 3D Perceptioncited by 1
  7. 2026WaveComm: Lightweight Communication for Collaborative Perception via Wavelet Feature Distillationcited by 0
  8. 2026SimBEV2X: A Large-Scale Dataset and Data Generation Tool for Multi-Task Vehicle-to-Everything Cooperative Perceptioncited by 0
  9. 2026VIPS: Vehicle-Infrastructure Cooperative Planning Benchmark via Pseudo-Simulationcited by 0