The DOI matches its Crossref record; 53 of the 53 references it cites were found in a registry or an index.
PETRv2: A Unified Framework for 3D Perception from Multi-Camera Images
Open accessAbstract
In this paper, we propose PETRv2, a unified framework for 3D perception from multi-view images. Based on PETR [25], PETRv2 explores the effectiveness of temporal modeling, which utilizes the temporal information of previous frames to boost 3D object detection. More specifically, we extend the 3D position embedding (3D PE) in PETR for temporal modeling. The 3D PE achieves the temporal alignment on object position of different frames. To support for multi-task learning (e.g., BEV segmentation and 3D lane detection), PETRv2 provides a simple yet effective solution by introducing task-specific queries, which are initialized under different spaces. PETRv2 achieves state-of-the-art performance on 3D object detection, BEV segmentation and 3D lane detection. Detailed robustness analysis is also conducted on PETR framework. Code is available at https://github.com/megvii-research/PETR.
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Cited by
Exploring Object-Centric Temporal Modeling for Efficient Multi-View 3D Object Detection
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Self-citationCross Modal Transformer: Towards Fast and Robust 3D Object Detection
Yan, J., Liu, Y., Sun, J., Jia, F., Li, S., Wang, T., & Zhang, X. (2023) · 2023 IEEE/CVF International Conference on Computer Vision (ICCV) · doi:10.1109/iccv51070.2023.01675 · Cited by 182
Self-citationSparseBEV: High-Performance Sparse 3D Object Detection from Multi-Camera Videos
Liu, H., Teng, Y., Lu, T., Wang, H., & Wang, L. (2023) · 2023 IEEE/CVF International Conference on Computer Vision (ICCV) · doi:10.1109/iccv51070.2023.01703 · Cited by 154
RCBEVDet: Radar-Camera Fusion in Bird's Eye View for 3D Object Detection
Lin, Z., Liu, Z., Xia, Z., Wang, X., Wang, Y., Qi, S., Dong, Y., Dong, N., Zhang, L., & Zhu, C. (2024) · 2024 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) · doi:10.1109/cvpr52733.2024.01414 · Cited by 153
LATR: 3D Lane Detection from Monocular Images with Transformer
Luo, Y., Zheng, C., Yan, X., Kun, T., Zheng, C., Cui, S., & Li, Z. (2023) · 2023 IEEE/CVF International Conference on Computer Vision (ICCV) · doi:10.1109/iccv51070.2023.00730 · Cited by 64
Metadata
- Authors
- Liu, Y., Yan, J., Jia, F., Li, S., Gao, A., Wang, T., & Zhang, X.
- Venue
- 2023 IEEE/CVF International Conference on Computer Vision (ICCV)
- Publisher
- IEEE
- Published
- 2023-10-01
- Pages
- 3239-3249
- OpenAlex
- W4390872833
- Cited by
- 384
- References
- 53
- FWCI
- 43.55
- Type
- conference paper
- Language
- en
- Open access
- green
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