{"id":"https://openalex.org/W4405785023","doi":"https://doi.org/10.1109/iros58592.2024.10802840","title":"Robust Multi-Camera BEV Perception: An Image-Perceptive Approach to Counter Imprecise Camera Calibration","display_name":"Robust Multi-Camera BEV Perception: An Image-Perceptive Approach to Counter Imprecise Camera Calibration","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785023","doi":"https://doi.org/10.1109/iros58592.2024.10802840"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802840","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802840","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5029796723","display_name":"Rundong Sun","orcid":"https://orcid.org/0009-0005-0820-0052"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rundong Sun","raw_affiliation_strings":["Beijing Institute of Technology,School of Automation,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Automation,Beijing,China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091459774","display_name":"Mengyin Fu","orcid":"https://orcid.org/0000-0002-5520-7127"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengyin Fu","raw_affiliation_strings":["Beijing Institute of Technology,School of Automation,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Automation,Beijing,China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059667265","display_name":"Hao Liang","orcid":"https://orcid.org/0000-0003-4183-3423"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Liang","raw_affiliation_strings":["Beijing Institute of Technology,School of Automation,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Automation,Beijing,China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100355243","display_name":"Chunhui Zhu","orcid":"https://orcid.org/0000-0001-8947-463X"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunhui Zhu","raw_affiliation_strings":["Beijing Institute of Technology,School of Automation,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Automation,Beijing,China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101548596","display_name":"Zhipeng Dong","orcid":"https://orcid.org/0000-0002-1706-9253"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhipeng Dong","raw_affiliation_strings":["Beijing Institute of Technology,School of Automation,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Automation,Beijing,China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062124960","display_name":"Yi Yang","orcid":"https://orcid.org/0000-0003-3964-2433"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Yang","raw_affiliation_strings":["Beijing Institute of Technology,School of Automation,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Automation,Beijing,China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5002","last_page":"5008"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13114","display_name":"Image Processing Techniques and Applications","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T13114","display_name":"Image Processing Techniques and Applications","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9983000159263611,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.996999979019165,"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/computer-vision","display_name":"Computer vision","score":0.798389196395874},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7358307838439941},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6989942193031311},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.5888745784759521},{"id":"https://openalex.org/keywords/camera-resectioning","display_name":"Camera resectioning","score":0.5485157370567322},{"id":"https://openalex.org/keywords/camera-auto-calibration","display_name":"Camera auto-calibration","score":0.5449799299240112},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5319084525108337},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.4905514121055603},{"id":"https://openalex.org/keywords/image-sensor","display_name":"Image sensor","score":0.43494945764541626},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.32216373085975647},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15813317894935608},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.09255984425544739},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.06057056784629822}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.798389196395874},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7358307838439941},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6989942193031311},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.5888745784759521},{"id":"https://openalex.org/C110898773","wikidata":"https://www.wikidata.org/wiki/Q2933935","display_name":"Camera resectioning","level":2,"score":0.5485157370567322},{"id":"https://openalex.org/C94816000","wikidata":"https://www.wikidata.org/wiki/Q5026006","display_name":"Camera auto-calibration","level":3,"score":0.5449799299240112},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5319084525108337},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.4905514121055603},{"id":"https://openalex.org/C76935873","wikidata":"https://www.wikidata.org/wiki/Q209121","display_name":"Image sensor","level":2,"score":0.43494945764541626},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.32216373085975647},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15813317894935608},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.09255984425544739},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.06057056784629822},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802840","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802840","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W2954174912","https://openalex.org/W2963727135","https://openalex.org/W2964294967","https://openalex.org/W2968257580","https://openalex.org/W2968296999","https://openalex.org/W3010707748","https://openalex.org/W3034868890","https://openalex.org/W3035574168","https://openalex.org/W3035749845","https://openalex.org/W3096609285","https://openalex.org/W3109395584","https://openalex.org/W3117234758","https://openalex.org/W3167095230","https://openalex.org/W3172084025","https://openalex.org/W3173668541","https://openalex.org/W3206486597","https://openalex.org/W3215100485","https://openalex.org/W4214530037","https://openalex.org/W4214558638","https://openalex.org/W4225793049","https://openalex.org/W4312641958","https://openalex.org/W4312707458","https://openalex.org/W4312894406","https://openalex.org/W4382466543","https://openalex.org/W4383066393","https://openalex.org/W4385245566","https://openalex.org/W4385804883","https://openalex.org/W6762718338","https://openalex.org/W6784094891","https://openalex.org/W6799331316","https://openalex.org/W6802311648","https://openalex.org/W6803556390","https://openalex.org/W6811230113","https://openalex.org/W6838873368"],"related_works":["https://openalex.org/W2785097492","https://openalex.org/W2118427684","https://openalex.org/W2378222798","https://openalex.org/W2052984831","https://openalex.org/W2061162617","https://openalex.org/W2391933270","https://openalex.org/W227461850","https://openalex.org/W1503004767","https://openalex.org/W1970302691","https://openalex.org/W2392935764"],"abstract_inverted_index":{"Recently,":[0],"Bird\u2019s":[1],"Eye":[2],"View":[3],"(BEV)":[4],"detection":[5,83,126],"methodologies":[6],"that":[7,58,104],"utilize":[8],"surround-view":[9],"cameras":[10,39],"have":[11],"seen":[12],"significant":[13],"advancements":[14],"in":[15,34,81,118,127],"autonomous":[16],"driving":[17],"systems.":[18],"Traditional":[19],"methods,":[20],"however,":[21],"are":[22],"constrained":[23],"by":[24],"their":[25],"reliance":[26],"on":[27,85,108],"specific":[28],"camera":[29],"parameters,":[30],"which":[31],"poses":[32,42],"challenges":[33],"generalizing":[35],"across":[36],"different":[37],"vehicle-mounted":[38],"with":[40,90],"varying":[41],"and":[43,64,77,122,129],"under":[44],"adverse":[45],"conditions.":[46],"To":[47],"address":[48],"these":[49],"challenges,":[50],"we":[51],"propose":[52],"a":[53],"robust":[54],"BEV":[55,125],"representation":[56],"network":[57,68],"integrates":[59],"Dual-Space":[60],"Positional":[61],"Encoding":[62],"(DSPE)":[63],"image":[65],"perception.":[66],"This":[67],"is":[69],"designed":[70],"to":[71,74,101],"enhance":[72],"resilience":[73],"calibration":[75],"errors":[76],"pose":[78],"fluctuations,":[79],"resulting":[80],"reliable":[82],"performance":[84],"the":[86,112,120],"Nuscenes":[87],"dataset,":[88],"even":[89],"imprecise":[91],"extrinsic":[92],"inputs.":[93],"Our":[94],"approach":[95],"demonstrates":[96],"competitive":[97],"accuracy":[98,123],"when":[99],"compared":[100],"other":[102],"methods":[103],"do":[105],"not":[106],"rely":[107],"temporal":[109],"data,":[110],"highlighting":[111],"effectiveness":[113],"of":[114,124],"our":[115],"DSPE":[116],"strategy":[117],"improving":[119],"robustness":[121],"dynamic":[128],"challenging":[130],"environments.":[131]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}