V2X-R: Cooperative LiDAR-4D Radar Fusion for 3D Object Detection with Denoising Diffusion

Introduction

This is the official repository for the V2X-R, including the V2X-R dataset and the implementation of the benchmark model, and MDD module. (coming soon)

V2X-R Dataset Manual

The first simulated V2X dataset incorporating LiDAR, camera, and 4D radar. V2X-R contains 12,079 scenarios with 37,727 frames of LiDAR and 4D radar point clouds, 150,908 images, and 170,859 annotated 3D vehicle bounding boxes.

Installation

Benchmark Models

Performance

Implementation

Training with MDD