mlsanityData to 14 Oct 2026

DRCP: Diffusion on Reinforced Cooperative Perception for Perceiving Beyond Limits

arXiv 2509.24903 ↗First posted 29 Sep 2025cs.RO cs.CV eess.IVcited by 0

Not on the map. Why?

Abstract (arXiv)

Cooperative perception enabled by Vehicle-to-Everything communication has shown great promise in enhancing situational awareness for autonomous vehicles and other mobile robotic platforms. Despite recent advances in perception backbones and multi-agent fusion, real-world deployments remain challenged by hard detection cases, exemplified by partial detections and noise accumulation which limit downstream detection accuracy. This work presents Diffusion on Reinforced Cooperative Perception (DRCP), a real-time deployable framework designed to address aforementioned issues in dynamic driving environments. DRCP integrates two key components: (1) Precise-Pyramid-Cross-Modality-Cross-Agent, a cross-modal cooperative perception module that leverages camera-intrinsic-aware angular partitioning for attention-based fusion and adaptive convolution to better exploit external features; and (2) Mask-Diffusion-Mask-Aggregation, a novel lightweight diffusion-based refinement module that encourages robustness against feature perturbations and aligns bird's-eye-view features closer to the task-optimal manifold. The proposed system achieves real-time performance on mobile platforms while significantly improving robustness under challenging conditions. Code will be released in late 2025.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 33 of its 38 references that are in the map. First posted on arXiv 29 Sep 2025.

Builds on

33 of 38 references.

References · 33

  1. 2021Swin Transformer: Hierarchical Vision Transformer using Shifted Windowscited by 12,139
  2. 2018Occupancy Networks: Learning 3D Reconstruction in Function Spacecited by 2,041
  3. 2017VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detectioncited by 1,323
  4. 2021Tokens-to-Token ViT: Training Vision Transformers from Scratch on ImageNetcited by 1,101
  5. 2020Lift, Splat, Shoot: Encoding Images From Arbitrary Camera Rigs by Implicitly Unprojecting to 3Dcited by 1,044
  6. 2024One Step Diffusion via Shortcut Modelscited by 391
  7. 2022V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformercited by 320
  8. 2021OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communicationcited by 304
  9. 2022BEVFormer v2: Adapting Modern Image Backbones to Bird's-Eye-View Recognition via Perspective Supervisioncited by 302
  10. 2022DAIR-V2X: A Large-Scale Dataset for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 273
  11. 2022Where2comm: Communication-Efficient Collaborative Perception via Spatial Confidence Mapscited by 255
  12. 2022CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformerscited by 227
21 more
  1. 2021Learning Distilled Collaboration Graph for Multi-Agent Perceptioncited by 194
  2. 2020Predicting Semantic Map Representations from Images using Pyramid Occupancy Networkscited by 175
  3. 2019F-Cooper: Feature based Cooperative Perception for Autonomous Vehicle Edge Computing System Using 3D Point Cloudscited by 171
  4. 2019Cooper: Cooperative Perception for Connected Autonomous Vehicles based on 3D Point Cloudscited by 165
  5. 2023V2V4Real: A Real-world Large-scale Dataset for Vehicle-to-Vehicle Cooperative Perceptioncited by 155
  6. 2022Robust Collaborative 3D Object Detection in Presence of Pose Errorscited by 129
  7. 2020Who2com: Collaborative Perception via Learnable Handshake Communicationcited by 127
  8. 2022COOPERNAUT: End-to-End Driving with Cooperative Perception for Networked Vehiclescited by 95
  9. 2024An Extensible Framework for Open Heterogeneous Collaborative Perceptioncited by 87
  10. 2023HM-ViT: Hetero-modal Vehicle-to-Vehicle Cooperative perception with vision transformercited by 70
  11. 2024TUMTraf V2X Cooperative Perception Datasetcited by 67
  12. 2023DiffBEV: Conditional Diffusion Model for Bird's Eye View Perceptioncited by 30
  13. 2024V2X-Radar: A Multi-modal Dataset with 4D Radar for Cooperative Perceptioncited by 22
  14. 2023BM2CP: Efficient Collaborative Perception with LiDAR-Camera Modalitiescited by 20
  15. 2024DifFUSER: Diffusion Model for Robust Multi-Sensor Fusion in 3D Object Detection and BEV Segmentationcited by 18
  16. 2023FedBEVT: Federated Learning Bird's Eye View Perception Transformer in Road Traffic Systemscited by 14
  17. 2023A Spatial Calibration Method for Robust Cooperative Perceptioncited by 13
  18. 2023Lift-Attend-Splat: Bird's-eye-view camera-lidar fusion using transformerscited by 8
  19. 2024DiffCP: Ultra-Low Bit Collaborative Perception via Diffusion Modelcited by 6
  20. 2023Diffusion-based 3D Object Detection with Random Boxescited by 5
  21. 2023NLOS Dies Twice: Challenges and Solutions of V2X for Cooperative Perceptioncited by 3

Built on by

Not cited yet.