mlsanityData to 14 Oct 2026

CoopTrack: Exploring End-to-End Learning for Efficient Cooperative Sequential Perception

arXiv 2507.19239 ↗First posted 25 Jul 2025cs.CVcited by 12

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Abstract (arXiv)

Cooperative perception aims to address the inherent limitations of single-vehicle autonomous driving systems through information exchange among multiple agents. Previous research has primarily focused on single-frame perception tasks. However, the more challenging cooperative sequential perception tasks, such as cooperative 3D multi-object tracking, have not been thoroughly investigated. Therefore, we propose CoopTrack, a fully instance-level end-to-end framework for cooperative tracking, featuring learnable instance association, which fundamentally differs from existing approaches. CoopTrack transmits sparse instance-level features that significantly enhance perception capabilities while maintaining low transmission costs. Furthermore, the framework comprises two key components: Multi-Dimensional Feature Extraction, and Cross-Agent Association and Aggregation, which collectively enable comprehensive instance representation with semantic and motion features, and adaptive cross-agent association and fusion based on a feature graph. Experiments on both the V2X-Seq and Griffin datasets demonstrate that CoopTrack achieves excellent performance. Specifically, it attains state-of-the-art results on V2X-Seq, with 39.0% mAP and 32.8% AMOTA. The project is available at https://github.com/zhongjiaru/CoopTrack.

Key facts. Cited by 12 papers in the map (data through 14 Oct 2026). Builds on 62 of its 83 references that are in the map. First posted on arXiv 25 Jul 2025.

Builds on

62 of 83 references.

References · 62

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  2. 2015Deep Residual Learning for Image Recognitioncited by 52,096
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  5. 2022A ConvNet for the 2020scited by 3,579
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  8. 2021MOTR: End-to-End Multiple-Object Tracking with Transformercited by 381
  9. 2022V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformercited by 320
  10. 2023Exploring Object-Centric Temporal Modeling for Efficient Multi-View 3D Object Detectioncited by 315
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  12. 2022DAIR-V2X: A Large-Scale Dataset for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 273
38 more
  1. 2022Where2comm: Communication-Efficient Collaborative Perception via Spatial Confidence Mapscited by 255
  2. 2022CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformerscited by 227
  3. 2021Learning Distilled Collaboration Graph for Multi-Agent Perceptioncited by 194
  4. 2022Time Will Tell: New Outlooks and A Baseline for Temporal Multi-View 3D Object Detectioncited by 178
  5. 2022V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Drivingcited by 157
  6. 2023V2V4Real: A Real-world Large-scale Dataset for Vehicle-to-Vehicle Cooperative Perceptioncited by 155
  7. 2022Robust Collaborative 3D Object Detection in Presence of Pose Errorscited by 129
  8. 2023V2X-Seq: A Large-Scale Sequential Dataset for Vehicle-Infrastructure Cooperative Perception and Forecastingcited by 114
  9. 2020GNN3DMOT: Graph Neural Network for 3D Multi-Object Tracking with Multi-Feature Learningcited by 113
  10. 2021SimpleTrack: Understanding and Rethinking 3D Multi-object Trackingcited by 103
  11. 2022MUTR3D: A Multi-camera Tracking Framework via 3D-to-2D Queriescited by 91
  12. 2023Collaboration Helps Camera Overtake LiDAR in 3D Detectioncited by 81
  13. 2023Sparse4D v3: Advancing End-to-End 3D Detection and Trackingcited by 70
  14. 2024Communication-Efficient Collaborative Perception via Information Filling with Codebookcited by 68
  15. 2024TUMTraf V2X Cooperative Perception Datasetcited by 67
  16. 2024V2X-Real: a Large-Scale Dataset for Vehicle-to-Everything Cooperative Perceptioncited by 66
  17. 2023Standing Between Past and Future: Spatio-Temporal Modeling for Multi-Camera 3D Multi-Object Trackingcited by 54
  18. 2022CAMO-MOT: Combined Appearance-Motion Optimization for 3D Multi-Object Tracking with Camera-LiDAR Fusioncited by 50
  19. 2019Track to Reconstruct and Reconstruct to Trackcited by 49
  20. 2024End-to-End Autonomous Driving through V2X Cooperationcited by 42
  21. 2024RCooper: A Real-world Large-scale Dataset for Roadside Cooperative Perceptioncited by 38
  22. 2024Collaborative Semantic Occupancy Prediction with Hybrid Feature Fusion in Connected Automated Vehiclescited by 33
  23. 2024ADA-Track++: End-to-End Multi-Camera 3D Multi-Object Tracking with Alternating Detection and Associationcited by 33
  24. 2023Flow-Based Feature Fusion for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 31
  25. 2024V2XPnP: Vehicle-to-Everything Spatio-Temporal Fusion for Multi-Agent Perception and Predictioncited by 31
  26. 2022Time3D: End-to-End Joint Monocular 3D Object Detection and Tracking for Autonomous Drivingcited by 30
  27. 2023Collaborative Multi-Object Tracking with Conformal Uncertainty Propagationcited by 27
  28. 2022TripletTrack: 3D Object Tracking using Triplet Embeddings and LSTMcited by 26
  29. 2023QUEST: Query Stream for Practical Cooperative Perceptioncited by 23
  30. 2024V2X-Radar: A Multi-modal Dataset with 4D Radar for Cooperative Perceptioncited by 22
  31. 2022DOLPHINS: Dataset for Collaborative Perception enabled Harmonious and Interconnected Self-drivingcited by 21
  32. 2022ShaSTA: Modeling Shape and Spatio-Temporal Affinities for 3D Multi-Object Trackingcited by 21
  33. 2023Learning Cooperative Trajectory Representations for Motion Forecastingcited by 21
  34. 2025StyleDrive: Towards Driving-Style Aware Benchmarking of End-To-End Autonomous Drivingcited by 21
  35. 2022Quality Matters: Embracing Quality Clues for Robust 3D Multi-Object Trackingcited by 17
  36. 2023Probabilistic 3D Multi-Object Cooperative Tracking for Autonomous Driving via Differentiable Multi-Sensor Kalman Filtercited by 15
  37. 2025Griffin: Aerial-Ground Cooperative Detection and Tracking Dataset and Benchmarkcited by 15
  38. 2022Transformers for Multi-Object Tracking on Point Cloudscited by 14

50 most cited of 62 All 62 (JSON)

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2025: 7; 2026: 5.

12 papers.

  1. 2025Towards Cross-View Point Correspondence in Vision-Language Modelscited by 14
  2. 2025Research Challenges and Progress in the End-to-End V2X Cooperative Autonomous Driving Competitioncited by 9
  3. 2025Building Egocentric Procedural AI Assistant: Methods, Benchmarks, and Challengescited by 5
  4. 2026MDrive: Benchmarking Closed-Loop Cooperative Driving for End-to-End Multi-agent Systemscited by 5
  5. 2025SparseCoop: Cooperative Perception with Kinematic-Grounded Queriescited by 4
  6. 2025SafeCoop: Unravelling Full Stack Safety in Agentic Collaborative Drivingcited by 2
  7. 2025From Features to Reference Points: Lightweight and Adaptive Fusion for Cooperative Autonomous Drivingcited by 1
  8. 2026Long-SCOPE: Fully Sparse Long-Range Cooperative 3D Perceptioncited by 1
  9. 2025SRA-CP: Spontaneous Risk-Aware Selective Cooperative Perceptioncited by 0
  10. 2026A Query-Driven Communication-Efficient Digital Twins Design for Autonomous Drivingcited by 0
  11. 2026VIPS: Vehicle-Infrastructure Cooperative Planning Benchmark via Pseudo-Simulationcited by 0
  12. 2026FFBL-Coop: Association-Decoupled Cooperative 3D Multi-Object Trackingcited by 0