# DenoiseCP-Net: Efficient Collective Perception in Adverse Weather via Joint LiDAR-Based 3D Object Detection and Denoising

arXiv: https://arxiv.org/abs/2507.06976 · HTML: https://mlsanity.com/paper/2507.06976/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 15 of its 33 references that are in the map.
- First posted on arXiv 9 Jul 2025.

## Builds on (most cited first, 15 of 15)

- [PointPillars: Fast Encoders for Object Detection from Point Clouds](https://mlsanity.com/paper/1812.05784/) (2018)
- [OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communication](https://mlsanity.com/paper/2109.07644/) (2021)
- [PV-RCNN++: Point-Voxel Feature Set Abstraction With Local Vector Representation for 3D Object Detection](https://mlsanity.com/paper/2102.00463/) (2021)
- [F-Cooper: Feature based Cooperative Perception for Autonomous Vehicle Edge Computing System Using 3D Point Clouds](https://mlsanity.com/paper/1909.06459/) (2019)
- [Cooper: Cooperative Perception for Connected Autonomous Vehicles based on 3D Point Clouds](https://mlsanity.com/paper/1905.05265/) (2019)
- [Deep Learning for LiDAR Point Clouds in Autonomous Driving: A Review](https://mlsanity.com/paper/2005.09830/) (2020)
- [Bridging the Domain Gap for Multi-Agent Perception](https://mlsanity.com/paper/2210.08451/) (2022)
- [Keypoints-Based Deep Feature Fusion for Cooperative Vehicle Detection of Autonomous Driving](https://mlsanity.com/paper/2109.11615/) (2021)
- [CNN-based Lidar Point Cloud De-Noising in Adverse Weather](https://mlsanity.com/paper/1912.03874/) (2019)
- [PillarGrid: Deep Learning-based Cooperative Perception for 3D Object Detection from Onboard-Roadside LiDAR](https://mlsanity.com/paper/2203.06319/) (2022)
- [TripleMixer: A 3D Point Cloud Denoising Model for Adverse Weather](https://mlsanity.com/paper/2408.13802/) (2024)
- [Collective PV-RCNN: A Novel Fusion Technique using Collective Detections for Enhanced Local LiDAR-Based Perception](https://mlsanity.com/paper/2309.05380/) (2023)
- [Collective Perception Datasets for Autonomous Driving: A Comprehensive Review](https://mlsanity.com/paper/2405.16973/) (2024)
- [MR3D-Net: Dynamic Multi-Resolution 3D Sparse Voxel Grid Fusion for LiDAR-Based Collective Perception](https://mlsanity.com/paper/2408.06137/) (2024)
- [S2S-Net: Addressing the Domain Gap of Heterogeneous Sensor Systems in LiDAR-Based Collective Perception](https://mlsanity.com/paper/2504.17399/) (2025)

## Abstract (arXiv)

While automated vehicles hold the potential to significantly reduce traffic accidents, their perception systems remain vulnerable to sensor degradation caused by adverse weather and environmental occlusions. Collective perception, which enables vehicles to share information, offers a promising approach to overcoming these limitations. However, to this date collective perception in adverse weather is mostly unstudied. Therefore, we conduct the first study of LiDAR-based collective perception under diverse weather conditions and present a novel multi-task architecture for LiDAR-based collective perception under adverse weather. Adverse weather conditions can not only degrade perception capabilities, but also negatively affect bandwidth requirements and latency due to the introduced noise that is also transmitted and processed. Denoising prior to communication can effectively mitigate these issues. Therefore, we propose DenoiseCP-Net, a novel multi-task architecture for LiDAR-based collective perception under adverse weather conditions. DenoiseCP-Net integrates voxel-level noise filtering and object detection into a unified sparse convolution backbone, eliminating redundant computations associated with two-stage pipelines. This design not only reduces inference latency and computational cost but also minimizes communication overhead by removing non-informative noise. We extended the well-known OPV2V dataset by simulating rain, snow, and fog using our realistic weather simulation models. We demonstrate that DenoiseCP-Net achieves near-perfect denoising accuracy in adverse weather, reduces the bandwidth requirements by up to 23.6% while maintaining the same detection accuracy and reducing the inference latency for cooperative vehicles.