图片来自自动驾驶之心 lift-splat based BEV 红色字体 BEVDet/BEVDepth/BEVStereo/SOLOFusion/VideoBEV IPM based BEV BEVFormer/GKT Query based BEV PETR series, DETR3D series bev方法发展历程如下: waymo的轨迹预测方法发展历程