OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communication

Employing Vehicle-to-Vehicle communication to enhance perception performance in self-driving technology has attracted considerable attention recently; however, the absence of a suitable open dataset for benchmarking algorithms has made it difficult to develop and assess cooperative perception technologies. To this end, we present the first large-scale open simulated dataset for Vehicle-to-Vehicle perception. It contains over 70 interesting scenes, 11,464 frames, and 232,913 annotated 3D vehicle bounding boxes, collected from 8 towns in CARLA and a digital town of Culver City, Los Angeles. We then construct a comprehensive benchmark with a total of 16 implemented models to evaluate several information fusion…