{"id":"https://openalex.org/W4386072002","doi":"https://doi.org/10.1109/cvpr52729.2023.01710","title":"BEVFormer v2: Adapting Modern Image Backbones to Bird's-Eye-View Recognition via Perspective Supervision","display_name":"BEVFormer v2: Adapting Modern Image Backbones to Bird's-Eye-View Recognition via Perspective Supervision","publication_year":2023,"publication_date":"2023-06-01","ids":{"openalex":"https://openalex.org/W4386072002","doi":"https://doi.org/10.1109/cvpr52729.2023.01710"},"language":"en","primary_location":{"id":"doi:10.1109/cvpr52729.2023.01710","doi":"https://doi.org/10.1109/cvpr52729.2023.01710","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr52729.2023.01710","pdf_url":null,"source":{"id":"https://openalex.org/S4210176548","display_name":"IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings - IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings","issn_l":"1063-6919","issn":["1063-6919","2332-564X","2575-7075"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2211.10439","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101678003","display_name":"Chenyu Yang","orcid":"https://orcid.org/0000-0001-9997-4929","observed_orcids":["https://orcid.org/0000-0001-9997-4929","https://orcid.org/0009-0007-1697-9216"]},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenyu Yang","raw_affiliation_strings":["Tsinghua University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102821179","display_name":"Yuntao Chen","orcid":"https://orcid.org/0000-0002-9555-1897","observed_orcids":["https://orcid.org/0000-0002-9555-1897","https://orcid.org/0009-0008-1461-7219"]},"institutions":[{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I2799351866","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Yuntao Chen","raw_affiliation_strings":["Centre for Artificial Intelligence and Robotics, HKISI&#x005F;CAS"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Artificial Intelligence and Robotics, HKISI&#x005F;CAS","institution_ids":["https://openalex.org/I4210121405"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100771541","display_name":"Hao Tian","orcid":"https://orcid.org/0000-0001-8219-9743","observed_orcids":["https://orcid.org/0000-0001-8219-9743"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hao Tian","raw_affiliation_strings":["Sense Time Research"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sense Time Research","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001403396","display_name":"Chenxin Tao","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenxin Tao","raw_affiliation_strings":["Tsinghua University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112877229","display_name":"Xizhou Zhu","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xizhou Zhu","raw_affiliation_strings":["Sense Time Research"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sense Time Research","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101589393","display_name":"Zhaoxiang Zhang","orcid":"https://orcid.org/0000-0002-1469-1469","observed_orcids":["https://orcid.org/0000-0002-1469-1469","https://orcid.org/0009-0000-1970-7901"]},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I2799351866","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]}],"countries":["CN","IN"],"is_corresponding":false,"raw_author_name":"Zhaoxiang Zhang","raw_affiliation_strings":["Centre for Artificial Intelligence and Robotics, HKISI&#x005F;CAS","Institute of Automation, Chinese Academy of Science (CASIA)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Artificial Intelligence and Robotics, HKISI&#x005F;CAS","institution_ids":["https://openalex.org/I4210121405"]},{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Science (CASIA)","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013240918","display_name":"Gao Ming Huang","orcid":"https://orcid.org/0000-0002-7251-0988","observed_orcids":["https://orcid.org/0000-0002-7251-0988","https://orcid.org/0000-0002-0003-0184"]},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gao Huang","raw_affiliation_strings":["Tsinghua University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100450549","display_name":"Hongyang Li","orcid":"https://orcid.org/0000-0001-5891-134X","observed_orcids":["https://orcid.org/0000-0001-5891-134X"]},"institutions":[{"id":"https://openalex.org/I4391012619","display_name":"Shanghai Artificial Intelligence Laboratory","ror":"https://ror.org/03wkvpx79","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391012619"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongyang Li","raw_affiliation_strings":["Shanghai Artificial Intelligence Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Artificial Intelligence Laboratory","institution_ids":["https://openalex.org/I4391012619"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100748135","display_name":"Yu Qiao","orcid":"https://orcid.org/0000-0002-1889-2567","observed_orcids":["https://orcid.org/0000-0002-1889-2567","https://orcid.org/0000-0003-4045-8473"]},"institutions":[{"id":"https://openalex.org/I4391012619","display_name":"Shanghai Artificial Intelligence Laboratory","ror":"https://ror.org/03wkvpx79","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391012619"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Qiao","raw_affiliation_strings":["Shanghai Artificial Intelligence Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Artificial Intelligence Laboratory","institution_ids":["https://openalex.org/I4391012619"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000474748","display_name":"Lewei Lu","orcid":"https://orcid.org/0009-0009-9809-3818","observed_orcids":["https://orcid.org/0009-0009-9809-3818"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lewei Lu","raw_affiliation_strings":["Sense Time Research"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sense Time Research","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100620306","display_name":"Jie Zhou","orcid":"https://orcid.org/0000-0001-7701-234X","observed_orcids":["https://orcid.org/0000-0001-7701-234X","https://orcid.org/0009-0002-1359-658X"]},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Zhou","raw_affiliation_strings":["Tsinghua University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026944066","display_name":"Jifeng Dai","orcid":"https://orcid.org/0000-0002-6785-0785","observed_orcids":["https://orcid.org/0000-0002-6785-0785"]},"institutions":[{"id":"https://openalex.org/I4391012619","display_name":"Shanghai Artificial Intelligence Laboratory","ror":"https://ror.org/03wkvpx79","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391012619"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jifeng Dai","raw_affiliation_strings":["Tsinghua University","Shanghai Artificial Intelligence Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Shanghai Artificial Intelligence Laboratory","institution_ids":["https://openalex.org/I4391012619"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":35.9986,"has_fulltext":true,"cited_by_count":335,"citation_normalized_percentile":{"value":0.99751642,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"17830","last_page":"17839"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.975600004196167,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.975600004196167,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.019099999219179153,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.0010999999940395355,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/two-stage-detectors","display_name":"two-stage detection","score":0.6470000147819519},{"id":"https://openalex.org/keywords/object-detection","display_name":"object detection","score":0.4519999921321869},{"id":"https://openalex.org/keywords/nuscenes","display_name":"nuScenes","score":0.824999988079071},{"id":"https://openalex.org/keywords/autonomous-driving-perception","display_name":"autonomous driving perception","score":0.4959999918937683}],"concepts":[{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.8792930245399475},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.8109793663024902},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7381536364555359},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.6036188006401062},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4805210530757904},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.45653635263442993},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4373207688331604},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.15727660059928894},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.07146099209785461},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/cvpr52729.2023.01710","doi":"https://doi.org/10.1109/cvpr52729.2023.01710","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr52729.2023.01710","pdf_url":null,"source":{"id":"https://openalex.org/S4210176548","display_name":"IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings - IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings","issn_l":"1063-6919","issn":["1063-6919","2332-564X","2575-7075"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2211.10439","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2211.10439","pdf_url":"https://arxiv.org/pdf/2211.10439","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:hub.hku.hk:10722/351470","doi":null,"is_oa":false,"landing_page_url":"https://hub.hku.hk/handle/10722/351470","pdf_url":null,"source":{"id":"https://openalex.org/S4377196271","display_name":"The HKU Scholars Hub (University of Hong Kong)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I889458895","host_organization_name":"University of Hong Kong","host_organization_lineage":["https://openalex.org/I889458895"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference_Paper"},{"id":"doi:10.48550/arxiv.2211.10439","doi":"https://doi.org/10.48550/arxiv.2211.10439","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2211.10439","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2211.10439","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2211.10439","pdf_url":"https://arxiv.org/pdf/2211.10439","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"sustainable_development_goals_aurora":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4386072002.pdf","grobid_xml":"https://content.openalex.org/works/W4386072002.grobid-xml"},"referenced_works_count":53,"referenced_works":["https://openalex.org/W1861492603","https://openalex.org/W2108598243","https://openalex.org/W2194775991","https://openalex.org/W2555618208","https://openalex.org/W2769205412","https://openalex.org/W2901707509","https://openalex.org/W2908510526","https://openalex.org/W2925148167","https://openalex.org/W2947648124","https://openalex.org/W2948515602","https://openalex.org/W2954174912","https://openalex.org/W2963323244","https://openalex.org/W2963351448","https://openalex.org/W2963400571","https://openalex.org/W2982770724","https://openalex.org/W2987206775","https://openalex.org/W3030520226","https://openalex.org/W3048770793","https://openalex.org/W3092462694","https://openalex.org/W3167095230","https://openalex.org/W3167732492","https://openalex.org/W3176319743","https://openalex.org/W3194903941","https://openalex.org/W3206020460","https://openalex.org/W3215100485","https://openalex.org/W4200629618","https://openalex.org/W4214530037","https://openalex.org/W4221158448","https://openalex.org/W4226305814","https://openalex.org/W4288099366","https://openalex.org/W4292948926","https://openalex.org/W4297899592","https://openalex.org/W4312443924","https://openalex.org/W4312641958","https://openalex.org/W4312707458","https://openalex.org/W4312894406","https://openalex.org/W4382240316","https://openalex.org/W4382464460","https://openalex.org/W4383108631","https://openalex.org/W4386076222","https://openalex.org/W4390872833","https://openalex.org/W6745673378","https://openalex.org/W6756392615","https://openalex.org/W6781473119","https://openalex.org/W6802311648","https://openalex.org/W6810182555","https://openalex.org/W6811230113","https://openalex.org/W6839355098","https://openalex.org/W6839364997","https://openalex.org/W6840525788","https://openalex.org/W6842154369","https://openalex.org/W6842870094","https://openalex.org/W6843796254"],"related_works":["https://openalex.org/W2149537132","https://openalex.org/W2366906938","https://openalex.org/W641279757","https://openalex.org/W370975646","https://openalex.org/W1670566515","https://openalex.org/W596972243","https://openalex.org/W2349391998","https://openalex.org/W4205655149","https://openalex.org/W4312518048","https://openalex.org/W2996769815"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,66,117],"novel":[3],"bird's-eye-view":[4],"(BEV)":[5],"detector":[6],"with":[7,116],"perspective":[8,58,74],"supervision,":[9],"which":[10],"converges":[11],"faster":[12],"and":[13,41,104,122,126],"bet-suits":[14],"modern":[15,123],"image":[16,39,124],"backbones.":[17],"Existing":[18],"state-of-the-art":[19],"BEV":[20,42,54,68],"detectors":[21,55],"are":[22,76],"often":[23],"tied":[24],"to":[25],"certain":[26],"depth":[27],"pretrained":[28],"backbones":[29,40,125],"like":[30],"Vo":[31],"Vn":[32],"et,":[33],"hindering":[34],"the":[35,51,73,79,88,100,105,108,132],"synergy":[36],"between":[37],"booming":[38],"detectors.":[43],"To":[44,61,86],"address":[45],"this":[46,62],"limitation,":[47],"we":[48,64,93],"prioritize":[49],"easing":[50],"optimization":[52],"of":[53,90,102,107,120],"by":[56],"introducing":[57],"view":[59],"supervision.":[60],"end,":[63],"propose":[65],"two-stage":[67],"detector;":[69],"where":[70],"proposals":[71],"from":[72],"head":[75,82],"fed":[77],"into":[78],"bird\u2019":[80],"s-eye-view":[81],"for":[83],"final":[84],"predictions.":[85],"evaluate":[87],"effectiveness":[89],"our":[91],"model,":[92],"conduct":[94],"extensive":[95],"ablation":[96],"studies":[97],"focusing":[98],"on":[99,131],"form":[101],"supervision":[103],"gener-ality":[106],"proposed":[109,112],"detector.":[110],"The":[111,136],"method":[113],"is":[114],"ver-ified":[115],"wide":[118],"spectrum":[119],"traditional":[121],"achieves":[127],"new":[128],"SoTA":[129],"results":[130],"large-scale":[133],"nuScenes":[134],"dataset.":[135],"code":[137],"shall":[138],"be":[139],"released":[140],"soon.":[141]},"counts_by_year":[{"year":2026,"cited_by_count":74},{"year":2025,"cited_by_count":110},{"year":2024,"cited_by_count":131},{"year":2023,"cited_by_count":20}],"updated_date":"2026-10-24T09:50:30.924529","created_date":"2025-10-10T00:00:00"}
