BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-View

December 2021

tl;dr: SOTA engineering effort with Lift-Splat-Shoot on BEV detection. Similar to CaDDN and DD3D.

Overall impression

This paper achieves SOTA performance on nuScenes 3D object detection. It uses the SOTA components and did not invent any new modules. The biggest innovation is the proposal of a new data augmentation method in BEV space.

The BEV detection framework has four components

This work is improved by BEVDet4D and BEVerse.

Key ideas

Technical details