mlsanityData to 14 Oct 2026

AirV2X: Unified Air-Ground Vehicle-to-Everything Collaboration

arXiv 2506.19283 ↗First posted 24 Jun 2025cs.CV cs.AI cs.ROcited by 11

Not on the map. Why?

Abstract (arXiv)

While multi-vehicular collaborative driving demonstrates clear advantages over single-vehicle autonomy, traditional infrastructure-based V2X systems remain constrained by substantial deployment costs and the creation of "uncovered danger zones" in rural and suburban areas. We present AirV2X-Perception, a large-scale dataset that leverages Unmanned Aerial Vehicles (UAVs) as a flexible alternative or complement to fixed Road-Side Units (RSUs). Drones offer unique advantages over ground-based perception: complementary bird's-eye-views that reduce occlusions, dynamic positioning capabilities that enable hovering, patrolling, and escorting navigation rules, and significantly lower deployment costs compared to fixed infrastructure. Our dataset comprises 6.73 hours of drone-assisted driving scenarios across urban, suburban, and rural environments with varied weather and lighting conditions. The AirV2X-Perception dataset facilitates the development and standardized evaluation of Vehicle-to-Drone (V2D) algorithms, addressing a critical gap in the rapidly expanding field of aerial-assisted autonomous driving systems. The dataset and development kits are open-sourced at https://github.com/taco-group/AirV2X-Perception.

Key facts. Cited by 11 papers in the map (data through 14 Oct 2026). Builds on 48 of its 57 references that are in the map. First posted on arXiv 24 Jun 2025.

Builds on

48 of 57 references.

References · 48

  1. 2017CARLA: An Open Urban Driving Simulatorcited by 2,449
  2. 2017AirSim: High-Fidelity Visual and Physical Simulation for Autonomous Vehiclescited by 523
  3. 2022V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformercited by 320
  4. 2021OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communicationcited by 304
  5. 2020V2VNet: Vehicle-to-Vehicle Communication for Joint Perception and Predictioncited by 292
  6. 2022DAIR-V2X: A Large-Scale Dataset for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 273
  7. 2022Where2comm: Communication-Efficient Collaborative Perception via Spatial Confidence Mapscited by 255
  8. 2022CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformerscited by 227
  9. 2019F-Cooper: Feature based Cooperative Perception for Autonomous Vehicle Edge Computing System Using 3D Point Cloudscited by 171
  10. 2019Cooper: Cooperative Perception for Connected Autonomous Vehicles based on 3D Point Cloudscited by 165
  11. 2020When2com: Multi-Agent Perception via Communication Graph Groupingcited by 157
  12. 2022V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Drivingcited by 157
36 more
  1. 2023V2V4Real: A Real-world Large-scale Dataset for Vehicle-to-Vehicle Cooperative Perceptioncited by 155
  2. 2019Cooperative Perception for 3D Object Detection in Driving Scenarios using Infrastructure Sensorscited by 110
  3. 2022COOPERNAUT: End-to-End Driving with Cooperative Perception for Networked Vehiclescited by 95
  4. 2024An Extensible Framework for Open Heterogeneous Collaborative Perceptioncited by 87
  5. 2021Perception and Sensing for Autonomous Vehicles Under Adverse Weather Conditions: A Surveycited by 82
  6. 2023Collaboration Helps Camera Overtake LiDAR in 3D Detectioncited by 81
  7. 2024TUMTraf V2X Cooperative Perception Datasetcited by 67
  8. 2024V2X-Real: a Large-Scale Dataset for Vehicle-to-Everything Cooperative Perceptioncited by 66
  9. 2020DSDNet: Deep Structured self-Driving Networkcited by 62
  10. 2022Learning for Vehicle-to-Vehicle Cooperative Perception under Lossy Communicationcited by 47
  11. 2024V2X-VLM: End-to-End V2X Cooperative Autonomous Driving Through Large Vision-Language Modelscited by 47
  12. 2025STAMP: Scalable Task And Model-agnostic Collaborative Perceptioncited by 44
  13. 2023CORE: Cooperative Reconstruction for Multi-Agent Perceptioncited by 41
  14. 2024RCooper: A Real-world Large-scale Dataset for Roadside Cooperative Perceptioncited by 38
  15. 2022Adaptive Feature Fusion for Cooperative Perception using LiDAR Point Cloudscited by 29
  16. 2023Vehicle-Infrastructure Cooperative 3D Object Detection via Feature Flow Predictioncited by 25
  17. 2025LangCoop: Collaborative Driving with Languagecited by 25
  18. 2020Depth Completion via Inductive Fusion of Planar LIDAR and Monocular Cameracited by 22
  19. 2023Multiview Aerial Visual Recognition (MAVREC): Can Multi-view Improve Aerial Visual Perception?cited by 18
  20. 2024V2X-R: Cooperative LiDAR-4D Radar Fusion with Denoising Diffusion for 3D Object Detectioncited by 18
  21. 2024UAV3D: A Large-scale 3D Perception Benchmark for Unmanned Aerial Vehiclescited by 16
  22. 2024U2UData: A Large-scale Cooperative Perception Dataset for Swarm UAVs Autonomous Flightcited by 15
  23. 2025Griffin: Aerial-Ground Cooperative Detection and Tracking Dataset and Benchmarkcited by 15
  24. 2024HoloVIC: Large-scale Dataset and Benchmark for Multi-Sensor Holographic Intersection and Vehicle-Infrastructure Cooperativecited by 14
  25. 2025V2X-UniPool: Unifying Multimodal Perception and Knowledge Reasoning for Autonomous Drivingcited by 14
  26. 2025V2X-LLM: Enhancing V2X Integration and Understanding in Connected Vehicle Corridorscited by 13
  27. 2025CoCMT: Communication-Efficient Cross-Modal Transformer for Collaborative Perceptioncited by 13
  28. 2025AGC-Drive: A Large-Scale Dataset for Real-World Aerial-Ground Collaboration in Driving Scenarioscited by 11
  29. 2025SenseRAG: Constructing Environmental Knowledge Bases with Proactive Querying for LLM-Based Autonomous Drivingcited by 9
  30. 2023We Need to Talk: Identifying and Overcoming Communication-Critical Scenarios for Self-Drivingcited by 8
  31. 2023SiCP: Simultaneous Individual and Cooperative Perception for 3D Object Detection in Connected and Automated Vehiclescited by 8
  32. 2025Collaborative Perception Datasets for Autonomous Driving: A Reviewcited by 8
  33. 2024UVCPNet: A UAV-Vehicle Collaborative Perception Network for 3D Object Detectioncited by 7
  34. 2024MambaST: A Plug-and-Play Cross-Spectral Spatial-Temporal Fuser for Efficient Pedestrian Detectioncited by 6
  35. 2021V2X Communication Between Connected and Automated Vehicles (CAVs) and Unmanned Aerial Vehicles (UAVs)cited by 2
  36. 2025A Synthetic Benchmark for Collaborative 3D Semantic Occupancy Prediction in V2X-Enabled Autonomous Drivingcited by 1

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2025: 5; 2026: 6.

11 papers.

  1. 2025Research Challenges and Progress in the End-to-End V2X Cooperative Autonomous Driving Competitioncited by 9
  2. 2025Automated Vehicles Should be Connected with Natural Languagecited by 5
  3. 2026Digital Twin AI: Opportunities and Challenges from Large Language Models to World Modelscited by 4
  4. 2025RDD: Retrieval-Based Demonstration Decomposer for Planner Alignment in Long-Horizon Taskscited by 3
  5. 2025SafeCoop: Unravelling Full Stack Safety in Agentic Collaborative Drivingcited by 2
  6. 2026V2U4Real: A Real-world Large-scale Dataset for Vehicle-to-UAV Cooperative Perceptioncited by 2
  7. 2025Probabilistic Hyper-Graphs using Multiple Randomly Masked Autoencoders for Semi-supervised Multi-modal Multi-task Learningcited by 1
  8. 2026OpenCOOD-Air: Prompting Heterogeneous Ground-Air Collaborative Perception with Spatial Conversion and Offset Predictioncited by 1
  9. 2026Adaptation-Free Heterogeneous Collaborative Perception with Unseen Agent Configurationscited by 0
  10. 2026UAVs Meet Embodied Intelligence: Bridging Human Intents and Flying Dynamics Via Harnessing Physical-Digital AI Agentscited by 0
  11. 2026AURORA: A Natural Language-Driven Agentic Framework for Understanding, Reasoning, and Orchestrating Reliable Air-Ground Co-Simulationcited by 0