SimBEV2X: A Large-Scale Dataset and Data Generation Tool for Multi-Task Vehicle-to-Everything Cooperative Perception

Researchers released SimBEV2X, a CARLA-based tool for generating randomized multi-agent driving scenes and rich annotations for V2X perception tasks.

They also published a large synthetic dataset with 258 scenes, up to 8 vehicles and 4 RSUs, and more than 102,200 frames.

The dataset includes multiple sensor modalities and labels such as 3D bounding boxes and semantic occupancy, helping train and benchmark cooperative perception models.

In addition, they proposed CoBEVFusion, a stronger baseline that outperforms CoopDet3D.