# HeCoFuse: Cross-Modal Complementary V2X Cooperative Perception with Heterogeneous Sensors

arXiv: https://arxiv.org/abs/2507.13677 · HTML: https://mlsanity.com/paper/2507.13677/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 22 of its 40 references that are in the map.
- First posted on arXiv 18 Jul 2025.

## Builds on (most cited first, 22 of 22)

- [PointPillars: Fast Encoders for Object Detection from Point Clouds](https://mlsanity.com/paper/1812.05784/) (2018)
- [YOLOv4: Optimal Speed and Accuracy of Object Detection](https://mlsanity.com/paper/2004.10934/) (2020)
- [Center-based 3D Object Detection and Tracking](https://mlsanity.com/paper/2006.11275/) (2020)
- [V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformer](https://mlsanity.com/paper/2203.10638/) (2022)
- [OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communication](https://mlsanity.com/paper/2109.07644/) (2021)
- [V2VNet: Vehicle-to-Vehicle Communication for Joint Perception and Prediction](https://mlsanity.com/paper/2008.07519/) (2020)
- [DAIR-V2X: A Large-Scale Dataset for Vehicle-Infrastructure Cooperative 3D Object Detection](https://mlsanity.com/paper/2204.05575/) (2022)
- [Learning Distilled Collaboration Graph for Multi-Agent Perception](https://mlsanity.com/paper/2111.00643/) (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)
- [V2X-Seq: A Large-Scale Sequential Dataset for Vehicle-Infrastructure Cooperative Perception and Forecasting](https://mlsanity.com/paper/2305.05938/) (2023)
- [Cooperative Perception for 3D Object Detection in Driving Scenarios using Infrastructure Sensors](https://mlsanity.com/paper/1912.12147/) (2019)
- [Collaborative Perception in Autonomous Driving: Methods, Datasets and Challenges](https://mlsanity.com/paper/2301.06262/) (2023)
- [HM-ViT: Hetero-modal Vehicle-to-Vehicle Cooperative perception with vision transformer](https://mlsanity.com/paper/2304.10628/) (2023)
- [TUMTraf V2X Cooperative Perception Dataset](https://mlsanity.com/paper/2403.01316/) (2024)
- [V2X-Real: a Large-Scale Dataset for Vehicle-to-Everything Cooperative Perception](https://mlsanity.com/paper/2403.16034/) (2024)
- [PillarGrid: Deep Learning-based Cooperative Perception for 3D Object Detection from Onboard-Roadside LiDAR](https://mlsanity.com/paper/2203.06319/) (2022)
- [VIMI: Vehicle-Infrastructure Multi-view Intermediate Fusion for Camera-based 3D Object Detection](https://mlsanity.com/paper/2303.10975/) (2023)
- [V2X-PC: Vehicle-to-everything Collaborative Perception via Point Cluster](https://mlsanity.com/paper/2403.16635/) (2024)
- [Adver-City: Open-Source Multi-Modal Dataset for Collaborative Perception Under Adverse Weather Conditions](https://mlsanity.com/paper/2410.06380/) (2024)
- [HEAD: A Bandwidth-Efficient Cooperative Perception Approach for Heterogeneous Connected and Autonomous Vehicles](https://mlsanity.com/paper/2408.15428/) (2024)
- [Integrating Multi-Modal Sensors: A Review of Fusion Techniques for Intelligent Vehicles](https://mlsanity.com/paper/2506.21885/) (2025)

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

- [Research Challenges and Progress in the End-to-End V2X Cooperative Autonomous Driving Competition](https://mlsanity.com/paper/2507.21610/) (2025)
- [SafeCoop: Unravelling Full Stack Safety in Agentic Collaborative Driving](https://mlsanity.com/paper/2510.18123/) (2025)

## Abstract (arXiv)

Real-world Vehicle-to-Everything (V2X) cooperative perception systems often operate under heterogeneous sensor configurations due to cost constraints and deployment variability across vehicles and infrastructure. This heterogeneity poses significant challenges for feature fusion and perception reliability. To address these issues, we propose HeCoFuse, a unified framework designed for cooperative perception across mixed sensor setups where nodes may carry Cameras (C), LiDARs (L), or both. By introducing a hierarchical fusion mechanism that adaptively weights features through a combination of channel-wise and spatial attention, HeCoFuse can tackle critical challenges such as cross-modality feature misalignment and imbalanced representation quality. In addition, an adaptive spatial resolution adjustment module is employed to balance computational cost and fusion effectiveness. To enhance robustness across different configurations, we further implement a cooperative learning strategy that dynamically adjusts fusion type based on available modalities. Experiments on the real-world TUMTraf-V2X dataset demonstrate that HeCoFuse achieves 43.22% 3D mAP under the full sensor configuration (LC+LC), outperforming the CoopDet3D baseline by 1.17%, and reaches an even higher 43.38% 3D mAP in the L+LC scenario, while maintaining 3D mAP in the range of 21.74% to 43.38% across nine heterogeneous sensor configurations. These results, validated by our first-place finish in the CVPR 2025 DriveX challenge, establish HeCoFuse as the current state-of-the-art on TUM-Traf V2X dataset while demonstrating robust performance across diverse sensor deployments.