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However, existing roadside perception approaches only focus on the single-infrastructure sensor system, which cannot realize a comprehensive understanding of a traffic area because of the limited sensing range and blind spots. Orienting high-quality roadside perception, we need Roadside Cooperative Perception (RCooper) to achieve practical area-coverage roadside perception for restricted traffic areas. Rcooper has its own domain-specific challenges, but further exploration is hindered due to the lack of datasets. We hence release the first real-world, large-scale RCooper dataset to bloom the research on practical roadside cooperative perception, including detection and tracking. The manually annotated dataset comprises 50k images and 30k point clouds, including two representative traffic scenes (i.e., intersection and corridor). The constructed benchmarks prove the effectiveness of roadside cooperation perception and demonstrate the direction of further research. Codes and dataset can be accessed at: https://github.com/AIR-THU/DAIR-RCooper.","url_abs":"https://arxiv.org/abs/2403.10145v2","url_pdf":"https://arxiv.org/pdf/2403.10145v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"rcooper-a-real-world-large-scale-dataset-for","repo_url":"https://github.com/air-thu/dair-rcooper","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok"}}],"tasks":[{"task_slug":"3d-object-detection","task_name":"3D Object Detection"},{"task_slug":"3d-object-tracking","task_name":"3D Object Tracking"},{"task_slug":"autonomous-driving","task_name":"Autonomous Driving"}],"methods":[{"method_slug":"bloom","method_name":"BLOOM"},{"method_slug":"focus","method_name":"Focus"}],"datasets_introduced":[{"slug":"rcooper","name":"RCooper","full_name":"Roadside Cooperative Perception Dataset"}],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/2403.10145","atlas_url":"https://app.syntology.ai/?focus=2403.10145","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2403.10145"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-25T09:33:49+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. 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