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We present a novel bird's-eye-view (BEV) detector with perspective supervision, which converges faster and better suits modern image backbones.
Imagenet: A large-scale hierarchical image database
Jia Deng, Wei Dong, Richard Socher, Li-Jia Li, Kai Li, and Li Fei-Fei · 2009
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Microsoft coco: Common objects in context
Tsung-Yi Lin, Michael Maire, Serge Belongie, James Hays, Pietro Perona, Deva Ramanan, Piotr Dollár, and C Lawrence Zitnick · 2014
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Deep residual learning for image recognition
Kaiming He, Xiangyu Zhang, Shaoqing Ren, and Jian Sun · 2016
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Multi-view 3d object detection network for autonomous driving
Xiaozhi Chen, Huimin Ma, Ji Wan, Bo Li, and Tian Xia · 2017
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Feature pyramid networks for object detection
Tsung-Yi Lin, Piotr Dollár, Ross Girshick, Kaiming He, Bharath Hariharan, and Serge Belongie · 2017
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Focal loss for dense object detection
Tsung-Yi Lin, Priya Goyal, Ross Girshick, Kaiming He, and Piotr Dollár · 2017
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Joint 3d proposal generation and object detection from view aggregation
Jason Ku, Melissa Mozifian, Jungwook Lee, Ali Harakeh, and Steven L Waslander · 2018
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Frustum pointnets for 3d object detection from rgb-d data
Charles R Qi, Wei Liu, Chenxia Wu, Hao Su, and Leonidas J Guibas · 2018
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Deep layer aggregation
Fisher Yu, Dequan Wang, Evan Shelhamer, and Trevor Darrell · 2018
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Decoupled weight decay regularization
Ilya Loshchilov and Frank Hutter · 2019
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Orthographic feature transform for monocular 3d object detection
Thomas Roddick, Alex Kendall, and Roberto Cipolla · 2019
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Disentangling monocular 3d object detection
Andrea Simonelli, Samuel Rota Bulo, Lorenzo Porzi, Manuel López-Antequera, and Peter Kontschieder · 2019
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Fcos: Fully convolutional one-stage object detection
Zhi Tian, Chunhua Shen, Hao Chen, and Tong He · 2019
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Pseudo-lidar from visual depth estimation: Bridging the gap in 3d object detection for autonomous driving
Yan Wang, Wei-Lun Chao, Divyansh Garg, Bharath Hariharan, Mark Campbell, and Kilian Q Weinberger · 2019
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nuscenes: A multimodal dataset for autonomous driving
Holger Caesar, Varun Bankiti, Alex H Lang, Sourabh Vora, Venice Erin Liong, Qiang Xu, Anush Krishnan, Yu Pan, Giancarlo Baldan, and Oscar Beijbom · 2020
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End-to-end object detection with transformers
Nicolas Carion, Francisco Massa, Gabriel Synnaeve, Nicolas Usunier, Alexander Kirillov, and Sergey Zagoruyko · 2020
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Centermask: Real-time anchor-free instance segmentation
Youngwan Lee and Jongyoul Park · 2020
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Cross-view semantic segmentation for sensing surroundings
Bowen Pan, Jiankai Sun, Ho Yin Tiga Leung, Alex Andonian, and Bolei Zhou · 2020
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Lift, splat, shoot: Encoding images from arbitrary camera rigs by implicitly unprojecting to 3d
Jonah Philion and Sanja Fidler · 2020
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Fiery: Future instance prediction in bird’s-eye view from surround monocular cameras
Anthony Hu, Zak Murez, Nikhil Mohan, Sofía Dudas, Jeffrey Hawke, Vijay Badrinarayanan, Roberto Cipolla, and Alex Kendall · 2021
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Bevdet: High-performance multi-camera 3d object detection in bird-eye-view
Polarformer: Multi-camera 3d object detection with polar transformers
Yanqin Jiang, Li Zhang, Zhenwei Miao, Xiatian Zhu, Jin Gao, Weiming Hu, and Yu-Gang Jiang · 2022
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Bevstereo: Enhancing depth estimation in multi-view 3d object detection with dynamic temporal stereo
Yinhao Li, Han Bao, Zheng Ge, Jinrong Yang, Jianjian Sun, and Zeming Li · 2022
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Bevdepth: Acquisition of reliable depth for multi-view 3d object detection
Yinhao Li, Zheng Ge, Guanyi Yu, Jinrong Yang, Zengran Wang, Yukang Shi, Jianjian Sun, and Zeming Li · 2022
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Bevformer: Learning bird’s-eye-view representation from multi-camera images via spatiotemporal transformers
Zhiqi Li, Wenhai Wang, Hongyang Li, Enze Xie, Chonghao Sima, Tong Lu, Yu Qiao, and Jifeng Dai · 2022
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Learning auxiliary monocular contexts helps monocular 3d object detection
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Junjie Huang, Guan Huang, Zheng Zhu, and Dalong Du · 2021
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Lidar r-cnn: An efficient and universal 3d object detector
Zhichao Li, Feng Wang, and Naiyan Wang · 2021
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Is pseudo-lidar needed for monocular 3d object detection?
Dennis Park, Rares Ambrus, Vitor Guizilini, Jie Li, and Adrien Gaidon · 2021
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Fcos3d: Fully convolutional one-stage monocular 3d object detection
Tai Wang, Xinge Zhu, Jiangmiao Pang, and Dahua Lin · 2021
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Center-based 3d object detection and tracking
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Objects are different: Flexible monocular 3d object detection
Yunpeng Zhang, Jiwen Lu, and Jie Zhou · 2021
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Deformable DETR: deformable transformers for end-to-end object detection
Xizhou Zhu, Weijie Su andLewei Lu, Bin Li, Xiaogang Wang, and Jifeng Dai · 2021
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Xianpeng Liu, Nan Xue, and Tianfu Wu · 2022
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PETR: position embedding transformation for multi-view 3d object detection
Yingfei Liu, Tiancai Wang, Xiangyu Zhang, and Jian Sun · 2022
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Petrv2: A unified framework for 3d perception from multi-camera images
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A convnet for the 2020s
Zhuang Liu, Hanzi Mao, Chao-Yuan Wu, Christoph Feichtenhofer, Trevor Darrell, and Saining Xie · 2022
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Tai Wang, Qing Lian, Chenming Zhu, Xinge Zhu, and Wenwei Zhang · 2022
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Internimage: Exploring large-scale vision foundation models with deformable convolutions
Wenhai Wang, Jifeng Dai, Zhe Chen, Zhenhang Huang, Zhiqi Li, Xizhou Zhu, Xiaowei Hu, Tong Lu, Lewei Lu, Hongsheng Li, Xiaogang Wang, and Yu Qiao · 2022
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Detr3d: 3d object detection from multi-view images via 3d-to-2d queries
Yue Wang, Vitor Campagnolo Guizilini, Tianyuan Zhang, Yilun Wang, Hang Zhao, and Justin Solomon · 2022
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Zengran Wang, Chen Min, Zheng Ge, Yinhao Li, Zeming Li, Hongyu Yang, and Di Huang · 2022
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A simple baseline for multi-camera 3d object detection
Yunpeng Zhang, Wenzhao Zheng, Zheng Zhu, Guan Huang, Jie Zhou, and Jiwen Lu · 2022
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Cross-view transformers for real-time map-view semantic segmentation
Brady Zhou and Philipp Krähenbühl · 2022
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