{"id":"https://openalex.org/W4383066393","doi":"https://doi.org/10.1109/icra48891.2023.10160968","title":"BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representation","display_name":"BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representation","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383066393","doi":"https://doi.org/10.1109/icra48891.2023.10160968"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160968","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160968","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100750264","display_name":"Zhijian Liu","orcid":"https://orcid.org/0000-0003-3632-9986"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhijian Liu","raw_affiliation_strings":["Massachusetts Institute of Technology,Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054102866","display_name":"Haotian Tang","orcid":"https://orcid.org/0000-0002-6567-6170"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Haotian Tang","raw_affiliation_strings":["Massachusetts Institute of Technology,Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010146439","display_name":"Alexander Amini","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alexander Amini","raw_affiliation_strings":["Massachusetts Institute of Technology,Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056067943","display_name":"Xinyu Yang","orcid":"https://orcid.org/0000-0001-5117-4914"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xinyu Yang","raw_affiliation_strings":["Massachusetts Institute of Technology,Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103132000","display_name":"Huizi Mao","orcid":"https://orcid.org/0009-0009-7900-0970"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huizi Mao","raw_affiliation_strings":["OmniML,San Jose,CA,USA,95131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"OmniML,San Jose,CA,USA,95131","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066830185","display_name":"Daniela Rus","orcid":"https://orcid.org/0000-0001-5473-3566"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniela L. Rus","raw_affiliation_strings":["Massachusetts Institute of Technology,Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070926896","display_name":"Song Han","orcid":"https://orcid.org/0000-0002-4186-7618"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Song Han","raw_affiliation_strings":["Massachusetts Institute of Technology,Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1028,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2774","last_page":"2781"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9998000264167786,"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":0.9998000264167786,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7889284491539001},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6454379558563232},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6417471170425415},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6152232885360718},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5199897885322571},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.509320855140686},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.47673049569129944},{"id":"https://openalex.org/keywords/pooling","display_name":"Pooling","score":0.4528421461582184},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.44608914852142334},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.43921220302581787},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4294910728931427},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.410984605550766},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.10503405332565308}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7889284491539001},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6454379558563232},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6417471170425415},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6152232885360718},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5199897885322571},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.509320855140686},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.47673049569129944},{"id":"https://openalex.org/C70437156","wikidata":"https://www.wikidata.org/wiki/Q7228652","display_name":"Pooling","level":2,"score":0.4528421461582184},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.44608914852142334},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.43921220302581787},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4294910728931427},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.410984605550766},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.10503405332565308},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160968","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160968","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":79,"referenced_works":["https://openalex.org/W2555618208","https://openalex.org/W2565639579","https://openalex.org/W2897529137","https://openalex.org/W2948515602","https://openalex.org/W2949708697","https://openalex.org/W2963121255","https://openalex.org/W2963182550","https://openalex.org/W2963351448","https://openalex.org/W2963727135","https://openalex.org/W2964062501","https://openalex.org/W2968296999","https://openalex.org/W2969987486","https://openalex.org/W2982770724","https://openalex.org/W3003618643","https://openalex.org/W3004237909","https://openalex.org/W3008105217","https://openalex.org/W3031752193","https://openalex.org/W3034314779","https://openalex.org/W3034669477","https://openalex.org/W3035172746","https://openalex.org/W3035346742","https://openalex.org/W3035461736","https://openalex.org/W3035574168","https://openalex.org/W3105073457","https://openalex.org/W3109395584","https://openalex.org/W3117804044","https://openalex.org/W3118479569","https://openalex.org/W3122239467","https://openalex.org/W3136022415","https://openalex.org/W3138516171","https://openalex.org/W3167095230","https://openalex.org/W3167732492","https://openalex.org/W3170030651","https://openalex.org/W3172268302","https://openalex.org/W3173668541","https://openalex.org/W3176888779","https://openalex.org/W3179351458","https://openalex.org/W3183579734","https://openalex.org/W3199093552","https://openalex.org/W3207231145","https://openalex.org/W3207615232","https://openalex.org/W3209639308","https://openalex.org/W3213288297","https://openalex.org/W3215100485","https://openalex.org/W4214558638","https://openalex.org/W4224259431","https://openalex.org/W4225793049","https://openalex.org/W4225986494","https://openalex.org/W4226305814","https://openalex.org/W4285077703","https://openalex.org/W4285606661","https://openalex.org/W4289283268","https://openalex.org/W4310078553","https://openalex.org/W4312641958","https://openalex.org/W4312707458","https://openalex.org/W4312894406","https://openalex.org/W4313024968","https://openalex.org/W4313176116","https://openalex.org/W4385804883","https://openalex.org/W6739778489","https://openalex.org/W6754918364","https://openalex.org/W6756392615","https://openalex.org/W6767379092","https://openalex.org/W6769571200","https://openalex.org/W6781473119","https://openalex.org/W6784094891","https://openalex.org/W6789760779","https://openalex.org/W6791353490","https://openalex.org/W6796995069","https://openalex.org/W6799331316","https://openalex.org/W6802311648","https://openalex.org/W6802716934","https://openalex.org/W6803556390","https://openalex.org/W6809824471","https://openalex.org/W6810182555","https://openalex.org/W6810240388","https://openalex.org/W6811079899","https://openalex.org/W6811230113","https://openalex.org/W6839748776"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W2953234277","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W4281783339","https://openalex.org/W4293094720","https://openalex.org/W2739701376"],"abstract_inverted_index":{"Multi-sensor":[0],"fusion":[1,66],"is":[2,117,172],"essential":[3],"for":[4,46],"an":[5,60],"accurate":[6],"and":[7,62,85,93,120,148,154],"reliable":[8],"autonomous":[9],"driving":[10],"system.":[11],"Recent":[12],"approaches":[13],"are":[14],"based":[15],"on":[16,140,150,158],"point-level":[17],"fusion:":[18],"augmenting":[19],"the":[20,28,33,40,73,95,100,134,138,141],"LiDAR":[21],"point":[22],"cloud":[23],"with":[24,103,127,162],"camera":[25,37],"features.":[26],"However,":[27],"camera-to-LiDAR":[29],"projection":[30],"throws":[31],"away":[32],"semantic":[34,86],"density":[35],"of":[36,42,137],"features,":[38],"hindering":[39],"effectiveness":[41],"such":[43],"methods,":[44],"especially":[45],"semantic-oriented":[47],"tasks":[48,126],"(such":[49],"as":[50],"3D":[51,124,151],"scene":[52],"segmentation).":[53],"In":[54],"this":[55],"paper,":[56],"we":[57,91],"propose":[58],"BEVFusion,":[59],"efficient":[61],"generic":[63],"multi-task":[64],"multi-sensor":[65],"framework.":[67],"It":[68,132],"unifies":[69],"multi-modal":[70],"features":[71],"in":[72,99],"shared":[74],"bird's-eye":[75],"view":[76,101],"(BEV)":[77],"representation":[78],"space,":[79],"which":[80],"nicely":[81],"preserves":[82],"both":[83],"geometric":[84],"information.":[87],"To":[88],"achieve":[89],"this,":[90],"diagnose":[92],"lift":[94],"key":[96],"efficiency":[97],"bottlenecks":[98],"transformation":[102],"optimized":[104],"BEV":[105,159],"pooling,":[106],"reducing":[107],"latency":[108],"by":[109],"more":[110],"than":[111],"<tex":[112],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[113],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$\\mathbf{40}\\times$</tex>":[114],".":[115],"BEVFusion":[116],"fundamentally":[118],"task-agnostic":[119],"seamlessly":[121],"supports":[122],"different":[123],"perception":[125],"almost":[128],"no":[129],"architectural":[130],"changes.":[131],"establishes":[133],"new":[135],"state":[136],"art":[139],"nuScenes":[142],"benchmark,":[143],"achieving":[144],"1.3%":[145],"higher":[146,156],"mAP":[147],"NDS":[149],"object":[152],"detection":[153],"13.6%":[155],"mIoU":[157],"map":[160],"segmentation,":[161],"1.9\u00d7":[163],"lower":[164],"computation":[165],"cost.":[166],"Code":[167],"to":[168],"reproduce":[169],"our":[170],"results":[171],"available":[173],"at":[174],"https://github.com/mit-han-lab/bevfusion.":[175]},"counts_by_year":[{"year":2026,"cited_by_count":112},{"year":2025,"cited_by_count":390},{"year":2024,"cited_by_count":347},{"year":2023,"cited_by_count":168},{"year":2022,"cited_by_count":11}],"updated_date":"2026-07-19T07:52:34.831488","created_date":"2025-10-10T00:00:00"}
