基于鸟瞰图的三维目标检测

M2BEV: Multi-Camera Joint 3D Detection and Segmentation with Unified Bird’s-Eye View Representation

概要：

1. propose a unified framework to transform multi-camera images to a Bird’s-Eye

View (BEV) representation for multi-task AV perception, including 3D object detection

and BEV segmentation.

1. propose several novel designs such as efficient BEV encoder, dynamic box assignment, and BEV centerness.
2. large-scale pre-training with 2D annotation (e.g. nuImage) and 2D auxiliary supervision can significantly improve the performance of 3D tasks and benefits label efficiency.

方法：

主要步骤和imvoxelnet、cadnn差不多，都通过相机参数把2d feature转换为voxel，然后得到bev。cadnn的voxel直接坍缩到bev，bevformer的bev query被lift成pillar并用预定义large-scale pre-training with 2D annotation (e.g.  nuImage) and 2D auxiliary

supervision can significantly improve the performance of 3D tasks and benefits

label efficiency. As a result,的高度投影回fov，M2BEV的voxel过bev encoder得到bev。另外M2BEV是multi-view multi-task。

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BEVDet4D: Exploit Temporal Cues in Multi-camera 3D Object Detection

概要：lift the paradigm from the spatial-only 3D space to the spatial-temporal 4D space by fusing feature from previous frame with corresponding one in the current frame

方法：

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BEVDet: High-Performance Multi-Camera 3D Object Detection in Bird-Eye-View

遵循四个模块的pipeline，提出customized data augmentation strategy和Scale-NMS The Isolated View Spaces.

The Isolated View Spaces: 当在input image上做了数据增强A时，为了使特征和BEV空间中的目标播啊吃空间一致性，需要在view transformation中做A的反向变换，这样image view space的数据增强就不会改变BEV空间的spatial distribution，从而可以在image view space执行复杂的数据增强。

BEV Space Learning with Data Augmentation

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Lift, Splat, Shoot: Encoding Images from Arbitrary Camera Rigs by Implicitly Unprojecting to 3D

任意数量的相机 & robust to calibration error

方法和CaDNN几乎一样，区别是CaDNN用到gt depth来预测离散深度，LSS用给定的一系列深度值把fov像素点从(h,w)抬升为(h,w,d)。Shoot用于motion planning具体没看。

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Monocular 3D Object Detection: An Extrinsic Parameter Free Approach

地面不平导致相机看到的物体信息偏离真实物体信息

通过检测vanishing point和horizon change来预测相机外参，从而构建不受extrinsic perturbation影响的检测器。

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PersFormer: 3D Lane Detection via Perspective Transformer and the OpenLane Benchmark

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PETR: Position Embedding Transformation for Multi-View 3D Object Detection

核心思想就是把3D坐标的位置信息编码到图片特征里，产生3D position-aware features。与DETR3D相比省去了反投影和采样。

2D特征和3D坐标一起输入3D position encoder得到3D position-aware features。

3D PE建立了3D空间中不同视角的位置关联。