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2026-03-08 05:34:51
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Simple-BEV: What Really Matters for Multi-Sensor BEV Perception? Simple-BEV: What Really Matters for Multi-Sensor BEV Perception? Adam W. Harley Zhaoyuan Fang Jie Li Rares Ambrus Katerina Fragkiadaki ICRA 2023 [ Code ] [ Paper ] Abstract Building 3D perception systems for autonomous vehicles that do not rely on high-density LiDAR is a critical research problem because of the expense of LiDAR systems compared to cameras and other sensors. Recent research has developed a variety of camera-only methods, where features are differentiably "lifted" from the multi-camera images onto the 2D ground plane, yielding a "bird's eye view" (BEV) feature representation of the 3D space around the vehicle. This line of work has produced a variety of novel "lifting" methods, but we observe that other details in the training setups have shifted at the same time, making it unclear what really matters in top-performing methods. We also observe that using cameras alone is ...
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