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arxiv 2503.10034 v1 pith:Z5IHKOPH submitted 2025-03-13 cs.CV cs.RO

V2X-ReaLO: An Open Online Framework and Dataset for Cooperative Perception in Reality

classification cs.CV cs.RO
keywords perceptioncooperativedatasetonlinefusionintermediateopenreal-world
verification ladder T0 review T1 audit T2 compute T3 formal T4 reserved
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Cooperative perception enabled by Vehicle-to-Everything (V2X) communication holds significant promise for enhancing the perception capabilities of autonomous vehicles, allowing them to overcome occlusions and extend their field of view. However, existing research predominantly relies on simulated environments or static datasets, leaving the feasibility and effectiveness of V2X cooperative perception especially for intermediate fusion in real-world scenarios largely unexplored. In this work, we introduce V2X-ReaLO, an open online cooperative perception framework deployed on real vehicles and smart infrastructure that integrates early, late, and intermediate fusion methods within a unified pipeline and provides the first practical demonstration of online intermediate fusion's feasibility and performance under genuine real-world conditions. Additionally, we present an open benchmark dataset specifically designed to assess the performance of online cooperative perception systems. This new dataset extends V2X-Real dataset to dynamic, synchronized ROS bags and provides 25,028 test frames with 6,850 annotated key frames in challenging urban scenarios. By enabling real-time assessments of perception accuracy and communication lantency under dynamic conditions, V2X-ReaLO sets a new benchmark for advancing and optimizing cooperative perception systems in real-world applications. The codes and datasets will be released to further advance the field.

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Cited by 2 Pith papers

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    cs.RO 2026-05 unverdicted novelty 7.0

    MDrive benchmark shows multi-agent cooperative driving systems generally outperform single-agent ones in closed-loop settings but perception sharing does not always improve planning and negotiation can harm performanc...

  2. All You Need for Object Detection: From Pixels, Points, and Prompts to Next-Gen Fusion and Multimodal LLMs/VLMs in Autonomous Vehicles

    cs.CV 2025-10 unverdicted novelty 4.0

    A survey synthesizing sensor fusion strategies, AV datasets, and emerging LLM/VLM-powered object detection pipelines for autonomous vehicles.