{"id":"https://openalex.org/W4401416132","doi":"https://doi.org/10.1109/icra57147.2024.10611679","title":"CVFormer: Learning Circum-View Representation and Consistency for Vision-Based Occupancy Prediction via Transformers","display_name":"CVFormer: Learning Circum-View Representation and Consistency for Vision-Based Occupancy Prediction via Transformers","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416132","doi":"https://doi.org/10.1109/icra57147.2024.10611679"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611679","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10611679","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","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/A5111284213","display_name":"Zhengqi Bai","orcid":null},"institutions":[{"id":"https://openalex.org/I4210107198","display_name":"State Key Laboratory of Transducer Technology","ror":"https://ror.org/01qg56n75","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366","https://openalex.org/I19820366","https://openalex.org/I4210107198","https://openalex.org/I4210110458","https://openalex.org/I4210147322"]},{"id":"https://openalex.org/I4210147322","display_name":"Shanghai Institute of Microsystem and Information Technology","ror":"https://ror.org/04nytyj38","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210147322"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengqi Bai","raw_affiliation_strings":["Chinese Academy of Sciences,Bionic Vision System Laboratory, State Key Laboratory of Transducer Technology, Shanghai Institute of Microsystem and Information Technology,Shanghai,China,200050"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Bionic Vision System Laboratory, State Key Laboratory of Transducer Technology, Shanghai Institute of Microsystem and Information Technology,Shanghai,China,200050","institution_ids":["https://openalex.org/I4210107198","https://openalex.org/I4210147322"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034178117","display_name":"Wenjun Shi","orcid":"https://orcid.org/0000-0003-2882-2981"},"institutions":[{"id":"https://openalex.org/I4210107198","display_name":"State Key Laboratory of Transducer Technology","ror":"https://ror.org/01qg56n75","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366","https://openalex.org/I19820366","https://openalex.org/I4210107198","https://openalex.org/I4210110458","https://openalex.org/I4210147322"]},{"id":"https://openalex.org/I4210147322","display_name":"Shanghai Institute of Microsystem and Information Technology","ror":"https://ror.org/04nytyj38","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210147322"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenjun Shi","raw_affiliation_strings":["Chinese Academy of Sciences,Bionic Vision System Laboratory, State Key Laboratory of Transducer Technology, Shanghai Institute of Microsystem and Information Technology,Shanghai,China,200050"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Bionic Vision System Laboratory, State Key Laboratory of Transducer Technology, Shanghai Institute of Microsystem and Information Technology,Shanghai,China,200050","institution_ids":["https://openalex.org/I4210107198","https://openalex.org/I4210147322"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078385469","display_name":"Dongchen Zhu","orcid":"https://orcid.org/0000-0002-1579-3942"},"institutions":[{"id":"https://openalex.org/I4210107198","display_name":"State Key Laboratory of Transducer Technology","ror":"https://ror.org/01qg56n75","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366","https://openalex.org/I19820366","https://openalex.org/I4210107198","https://openalex.org/I4210110458","https://openalex.org/I4210147322"]},{"id":"https://openalex.org/I4210147322","display_name":"Shanghai Institute of Microsystem and Information Technology","ror":"https://ror.org/04nytyj38","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210147322"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongchen Zhu","raw_affiliation_strings":["Chinese Academy of Sciences,Bionic Vision System Laboratory, State Key Laboratory of Transducer Technology, Shanghai Institute of Microsystem and Information Technology,Shanghai,China,200050"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Bionic Vision System Laboratory, State Key Laboratory of Transducer Technology, Shanghai Institute of Microsystem and Information Technology,Shanghai,China,200050","institution_ids":["https://openalex.org/I4210107198","https://openalex.org/I4210147322"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114205066","display_name":"Hanlong Kang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210144102","display_name":"Wuhu Hit Robot Technology Research Institute","ror":"https://ror.org/049w4dp92","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144102"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hanlong Kang","raw_affiliation_strings":["Lotus Robotics Ltd.,Hangzhou,China,310056"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lotus Robotics Ltd.,Hangzhou,China,310056","institution_ids":["https://openalex.org/I4210144102"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111301554","display_name":"Guanghui Zhang","orcid":"https://orcid.org/0009-0005-0823-8130"},"institutions":[{"id":"https://openalex.org/I4210107198","display_name":"State Key Laboratory of Transducer Technology","ror":"https://ror.org/01qg56n75","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366","https://openalex.org/I19820366","https://openalex.org/I4210107198","https://openalex.org/I4210110458","https://openalex.org/I4210147322"]},{"id":"https://openalex.org/I4210147322","display_name":"Shanghai Institute of Microsystem and Information Technology","ror":"https://ror.org/04nytyj38","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210147322"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guanghui Zhang","raw_affiliation_strings":["Chinese Academy of Sciences,Bionic Vision System Laboratory, State Key Laboratory of Transducer Technology, Shanghai Institute of Microsystem and Information Technology,Shanghai,China,200050"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Bionic Vision System Laboratory, State Key Laboratory of Transducer Technology, Shanghai Institute of Microsystem and Information Technology,Shanghai,China,200050","institution_ids":["https://openalex.org/I4210107198","https://openalex.org/I4210147322"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100421185","display_name":"Gang Ye","orcid":"https://orcid.org/0000-0001-6034-2174"},"institutions":[{"id":"https://openalex.org/I4210144102","display_name":"Wuhu Hit Robot Technology Research Institute","ror":"https://ror.org/049w4dp92","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144102"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gang Ye","raw_affiliation_strings":["Lotus Robotics Ltd.,Hangzhou,China,310056"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lotus Robotics Ltd.,Hangzhou,China,310056","institution_ids":["https://openalex.org/I4210144102"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100740880","display_name":"Yang Xiao","orcid":"https://orcid.org/0000-0002-6329-3053"},"institutions":[{"id":"https://openalex.org/I4210144102","display_name":"Wuhu Hit Robot Technology Research Institute","ror":"https://ror.org/049w4dp92","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144102"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Xiao","raw_affiliation_strings":["Lotus Robotics Ltd.,Hangzhou,China,310056"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lotus Robotics Ltd.,Hangzhou,China,310056","institution_ids":["https://openalex.org/I4210144102"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100435848","display_name":"Lei Wang","orcid":"https://orcid.org/0000-0002-0961-0441"},"institutions":[{"id":"https://openalex.org/I4210107198","display_name":"State Key Laboratory of Transducer Technology","ror":"https://ror.org/01qg56n75","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366","https://openalex.org/I19820366","https://openalex.org/I4210107198","https://openalex.org/I4210110458","https://openalex.org/I4210147322"]},{"id":"https://openalex.org/I4210147322","display_name":"Shanghai Institute of Microsystem and Information Technology","ror":"https://ror.org/04nytyj38","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210147322"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Wang","raw_affiliation_strings":["Chinese Academy of Sciences,Bionic Vision System Laboratory, State Key Laboratory of Transducer Technology, Shanghai Institute of Microsystem and Information Technology,Shanghai,China,200050"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Bionic Vision System Laboratory, State Key Laboratory of Transducer Technology, Shanghai Institute of Microsystem and Information Technology,Shanghai,China,200050","institution_ids":["https://openalex.org/I4210107198","https://openalex.org/I4210147322"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100403843","display_name":"Xiaolin Zhang","orcid":"https://orcid.org/0009-0000-1244-4360"},"institutions":[{"id":"https://openalex.org/I4210107198","display_name":"State Key Laboratory of Transducer Technology","ror":"https://ror.org/01qg56n75","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366","https://openalex.org/I19820366","https://openalex.org/I4210107198","https://openalex.org/I4210110458","https://openalex.org/I4210147322"]},{"id":"https://openalex.org/I4210147322","display_name":"Shanghai Institute of Microsystem and Information Technology","ror":"https://ror.org/04nytyj38","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210147322"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaolin Zhang","raw_affiliation_strings":["Chinese Academy of Sciences,Bionic Vision System Laboratory, State Key Laboratory of Transducer Technology, Shanghai Institute of Microsystem and Information Technology,Shanghai,China,200050"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Bionic Vision System Laboratory, State Key Laboratory of Transducer Technology, Shanghai Institute of Microsystem and Information Technology,Shanghai,China,200050","institution_ids":["https://openalex.org/I4210107198","https://openalex.org/I4210147322"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113157920","display_name":"Bo Li","orcid":"https://orcid.org/0000-0001-8960-895X"},"institutions":[{"id":"https://openalex.org/I4210144102","display_name":"Wuhu Hit Robot Technology Research Institute","ror":"https://ror.org/049w4dp92","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144102"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Li","raw_affiliation_strings":["Lotus Robotics Ltd.,Hangzhou,China,310056"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lotus Robotics Ltd.,Hangzhou,China,310056","institution_ids":["https://openalex.org/I4210144102"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035418350","display_name":"Jiamao Li","orcid":"https://orcid.org/0000-0002-7478-4544"},"institutions":[{"id":"https://openalex.org/I4210107198","display_name":"State Key Laboratory of Transducer Technology","ror":"https://ror.org/01qg56n75","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366","https://openalex.org/I19820366","https://openalex.org/I4210107198","https://openalex.org/I4210110458","https://openalex.org/I4210147322"]},{"id":"https://openalex.org/I4210147322","display_name":"Shanghai Institute of Microsystem and Information Technology","ror":"https://ror.org/04nytyj38","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210147322"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiamao Li","raw_affiliation_strings":["Chinese Academy of Sciences,Bionic Vision System Laboratory, State Key Laboratory of Transducer Technology, Shanghai Institute of Microsystem and Information Technology,Shanghai,China,200050"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Bionic Vision System Laboratory, State Key Laboratory of Transducer Technology, Shanghai Institute of Microsystem and Information Technology,Shanghai,China,200050","institution_ids":["https://openalex.org/I4210107198","https://openalex.org/I4210147322"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":11,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2187,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.48853893,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"14701","last_page":"14707"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9997000098228455,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9997000098228455,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9986000061035156,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9977999925613403,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/occupancy","display_name":"Occupancy","score":0.7326633930206299},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6633836627006531},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5323337316513062},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.5193437337875366},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4772510230541229},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.46466267108917236},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4056570529937744},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3768683671951294},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13919216394424438},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.09938862919807434},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.08167049288749695},{"id":"https://openalex.org/keywords/architectural-engineering","display_name":"Architectural engineering","score":0.06332868337631226}],"concepts":[{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.7326633930206299},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6633836627006531},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5323337316513062},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.5193437337875366},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4772510230541229},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.46466267108917236},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4056570529937744},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3768683671951294},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13919216394424438},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.09938862919807434},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.08167049288749695},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.06332868337631226},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"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/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/icra57147.2024.10611679","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10611679","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321133","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35"},{"id":"https://openalex.org/F4320329860","display_name":"National Science and Technology Major Project","ror":null},{"id":"https://openalex.org/F4320335892","display_name":"Youth Innovation Promotion Association","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W123086243","https://openalex.org/W1901129140","https://openalex.org/W2157331557","https://openalex.org/W2194775991","https://openalex.org/W2565639579","https://openalex.org/W2897529137","https://openalex.org/W2949708697","https://openalex.org/W2963307292","https://openalex.org/W2963727135","https://openalex.org/W2963766190","https://openalex.org/W2968296999","https://openalex.org/W3035308182","https://openalex.org/W3035574168","https://openalex.org/W3092462694","https://openalex.org/W3109395584","https://openalex.org/W3118341329","https://openalex.org/W3215584334","https://openalex.org/W4224947594","https://openalex.org/W4225422725","https://openalex.org/W4225793049","https://openalex.org/W4226305814","https://openalex.org/W4281255813","https://openalex.org/W4292793982","https://openalex.org/W4297899592","https://openalex.org/W4303443326","https://openalex.org/W4310561607","https://openalex.org/W4312894406","https://openalex.org/W4322717261","https://openalex.org/W4323076342","https://openalex.org/W4367369767","https://openalex.org/W4382464460","https://openalex.org/W4385245566","https://openalex.org/W4386066358","https://openalex.org/W4386072002","https://openalex.org/W4386083035","https://openalex.org/W4390872638","https://openalex.org/W4390872833","https://openalex.org/W4390873564","https://openalex.org/W4390874310","https://openalex.org/W4390874817","https://openalex.org/W4392340379","https://openalex.org/W4402713134","https://openalex.org/W6811230113","https://openalex.org/W6847112178","https://openalex.org/W6853692440"],"related_works":["https://openalex.org/W4282043467","https://openalex.org/W2105697914","https://openalex.org/W3093197249","https://openalex.org/W1968324288","https://openalex.org/W1540010871","https://openalex.org/W3023979140","https://openalex.org/W2904068067","https://openalex.org/W1565491139","https://openalex.org/W3177545769","https://openalex.org/W2202433167"],"abstract_inverted_index":{"With":[0],"the":[1,32,53,60,71,94,135,143,152],"increasing":[2],"demands":[3],"for":[4,68,85,133,159],"perception":[5],"accuracy":[6],"in":[7,31],"autonomous":[8],"driving,":[9],"there":[10],"is":[11,83,110],"a":[12,28,42,65,79,105],"growing":[13],"focus":[14],"on":[15,124,147],"fine-grained":[16,76],"3D":[17,121],"semantic":[18,128],"occupancy":[19,160],"prediction.":[20,161],"Effectively":[21],"representing":[22],"detailed":[23],"three-dimensional":[24,57],"scenes":[25],"has":[26],"become":[27],"significant":[29],"challenge":[30],"development":[33],"of":[34,59,73,141],"this":[35,38],"task.":[36],"In":[37],"paper,":[39],"we":[40],"present":[41],"novel":[43,66,106],"transformer-based":[44],"framework":[45],"named":[46],"CVFormer,":[47],"which":[48,137],"leverages":[49],"two-dimensional":[50],"circum-views":[51,90],"from":[52,89,115],"ego":[54],"to":[55,91],"excavate":[56],"features":[58,88],"surrounding":[61],"environment.":[62],"Circum-views":[63],"provide":[64],"solution":[67],"effectively":[69],"addressing":[70],"representation":[72],"dense":[74],"and":[75,99,119,127],"scenes.":[77],"Specifically,":[78],"multi-attention":[80],"module":[81],"CTMA":[82],"designed":[84],"fusing":[86],"temporal":[87],"fully":[92],"exploit":[93],"spatiotemporal":[95],"correlations":[96],"between":[97],"frames":[98],"capture":[100],"more":[101],"comprehensive":[102],"clues.":[103],"Furthermore,":[104],"2D":[107],"projection":[108],"constraint":[109],"established":[111],"by":[112],"observing":[113],"objects":[114],"different":[116],"perspective":[117],"directions,":[118],"multiple":[120],"constraints":[122],"based":[123],"object":[125],"invariance":[126],"consistency":[129],"are":[130],"also":[131],"conducted":[132],"supervising":[134],"network,":[136],"enhances":[138],"its":[139],"performance":[140],"understanding":[142],"scene.":[144],"Experimental":[145],"results":[146],"nuScenes":[148],"dataset":[149],"demonstrate":[150],"that":[151],"proposed":[153],"CVFormer":[154],"obviously":[155],"outperforms":[156],"existing":[157],"methods":[158]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}