AirV2X: Unified Air-Ground Vehicle-to-Everything Collaboration

ICLR 2026 Conference Submission13515 Authors

Keywords: Autonomous Driving, Collaborative Perception, Low altitude economy

TL;DR: We present AirV2X-Perception, a large-scale dataset enabling drone-assisted autonomous driving as a flexible and cost-effective alternative or complementary to traditional V2X dataset.

Abstract: While multi-vehicular collaborative driving demonstrates clear advantages over single-vehicle autonomy, traditional infrastructure-based V2X systems remain constrained by substantial deployment costs and the creation of "uncovered danger zones" in rural and suburban areas. We present AirV2X-Perception, a large-scale dataset that leverages Unmanned Aerial Vehicles (UAVs) as a flexible alternative or complement to fixed Road-Side Units (RSUs). Drones offer unique advantages over ground-based perception: complementary bird's-eye-views that reduce occlusions, dynamic positioning capabilities that enable hovering, patrolling, and escorting navigation rules, and significantly lower deployment costs compared to fixed infrastructure. Our dataset comprises 6.73 hours of drone-assisted driving scenarios across urban, suburban, and rural environments with varied weather and lighting conditions. The AirV2X-Perception dataset facilitates the development and standardized evaluation of Vehicle-to-Drone (V2D) algorithms, addressing a critical gap in the rapidly expanding field of aerial-assisted autonomous driving systems. The dataset and development kits are open-sourced at https://anonymous.4open.science/r/AirV2X-Perception-BBA7.

Primary Area: applications to robotics, autonomy, planning

Submission Number: 13515