# Long-SCOPE: Fully Sparse Long-Range Cooperative 3D Perception

Source: [Long-SCOPE: Fully Sparse Long-Range Cooperative 3D Perception](<https://www.sota2.com/research/paper/69dc786e7d0172140ec789d5>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-04-14T05:00:04.234Z

Authors: Jiahao Wang, Zikun Xu, Yuner Zhang, Zhongwei Jiang, Chenyang Lu, Shuocheng Yang, Yuxuan Wang, Jiaru Zhong, Chuang Zhang, Shaobing Xu, Jianqiang Wang

Published: 2026-04-10T10:47:49.000Z

## Abstract

Cooperative 3D perception via Vehicle-to-Everything communication is a promising paradigm for enhancing autonomous driving, offering extended sensing horizons and occlusion resolution. However, the practical deployment of existing methods is hindered at long distances by two critical bottlenecks: the quadratic computational scaling of dense BEV representations and the fragility of feature association mechanisms under significant observation and alignment errors. To overcome these limitations, we introduce Long-SCOPE, a fully sparse framework designed for robust long-distance cooperative 3D perception. Our method features two novel components: a Geometry-guided Query Generation module to accurately detect small, distant objects, and a learnable Context-Aware Association module that robustly matches cooperative queries despite severe positional noise. Experiments on the V2X-Seq and Griffin datasets validate that Long-SCOPE achieves state-of-the-art performance, particularly in challenging 100-150 m long-range settings, while maintaining highly competitive computation and communication costs.

## Recorded benchmark results

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

- [3D Object Detection on V2X-Seq](<https://www.sota2.com/research/sota/3d-object-detection-on-v2x-seq.md>): 3D Object Detection; V2X-Seq; AP (0-150m): 39.9.

- [3D Object Detection on Griffin 25m](<https://www.sota2.com/research/sota/3d-object-detection-on-griffin-25m.md>): 3D Object Detection; Griffin 25m; AP (Overall, 0-100m): 35.4.

- [3D Object Tracking on V2X-Seq](<https://www.sota2.com/research/sota/3d-object-tracking-on-v2x-seq.md>): 3D Object Tracking; V2X-Seq; AMOTA (0-150m Overall): 44.4.

- [Multi-Object Tracking on Griffin 25m](<https://www.sota2.com/research/sota/multi-object-tracking-on-griffin-25m.md>): Multi-Object Tracking; Griffin 25m; AMOTA (0-100 m Overall): 32.7.

## Original sources and implementation

[Original paper](<https://arxiv.org/abs/2604.09206>)

[PDF](<https://arxiv.org/pdf/2604.09206.pdf>)