← 研踪 PaperTrailCVF · CVPR 2026:cvf:39321d8905c77011b073e976ffb58c09 · 记录 #1
V2U4Real: A Real-world Large-scale Dataset for Vehicle-to-UAV Cooperative Perception
来源日期（仅到年份） 2026
来源记录日期 2026
雷达观测 2026-11-01 23:44
摘要
Modern autonomous vehicle perception systems are often constrained by occlusions, blind spots, and limited sensing range. While existing cooperative perception paradigms, such as Vehicle-to-Vehicle (V2V) and Vehicle-to-Infrastructure (V2I), have demonstrated their effectiveness in mitigating these challenges, they remain limited to ground-level collaboration and cannot fully address large-scale occlusions or long-range perception in complex environments. To advance research in cross-view cooperative perception, we present V2U4Real, the first large-scale real-world multi-modal dataset for Vehicle-to-UAV (V2U) cooperative object perception. V2U4Real is collected by a ground vehicle and a UAV equipped with multi-view LiDARs and RGB cameras. The dataset covers urban streets, university campuses, and rural roads under diverse traffic scenarios, comprising over 56K LiDAR frames, 56K multi-view camera images, and 700K annotated 3D bounding boxes across four classes. To support a wide range of research tasks, we establish benchmarks for single-agent 3D object detection, cooperative 3D object detection, and object tracking. Comprehensive evaluations of several state-of-the-art models demonstrate the effectiveness of V2U cooperation in enhancing perception robustness and long-range awareness.
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记录 #1 · 2026 · 最新观测版本
V2U4Real: A Real-world Large-scale Dataset for Vehicle-to-UAV Cooperative Perception
Modern autonomous vehicle perception systems are often constrained by occlusions, blind spots, and limited sensing range. While existing cooperative perception paradigms, such as Vehicle-to-Vehicle (V2V) and Vehicle-to-Infrastructure (V2I), have demonstrated their effectiveness in mitigating these challenges, they remain limited to ground-level collaboration and cannot fully address large-scale occlusions or long-range perception in complex environments. To advance research in cross-view cooperative perception, we present V2U4Real, the first large-scale real-world multi-modal dataset for Vehicle-to-UAV (V2U) cooperative object perception. V2U4Real is collected by a ground vehicle and a UAV equipped with multi-view LiDARs and RGB cameras. The dataset covers urban streets, university campuses, and rural roads under diverse traffic scenarios, comprising over 56K LiDAR frames, 56K multi-view camera images, and 700K annotated 3D bounding boxes across four classes. To support a wide range of research tasks, we establish benchmarks for single-agent 3D object detection, cooperative 3D object detection, and object tracking. Comprehensive evaluations of several state-of-the-art models demonstrate the effectiveness of V2U cooperation in enhancing perception robustness and long-range awareness.
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