{"id":"https://openalex.org/W4416749956","doi":"https://doi.org/10.1109/iros60139.2025.11247319","title":"HeightAware-BEV: Height-Aware Feature Mapping for Efficient Bird\u2019s-Eye-View Perception","display_name":"HeightAware-BEV: Height-Aware Feature Mapping for Efficient Bird\u2019s-Eye-View Perception","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749956","doi":"https://doi.org/10.1109/iros60139.2025.11247319"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247319","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247319","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5101907461","display_name":"Renjie Zhou","orcid":"https://orcid.org/0000-0003-0701-7318"},"institutions":[{"id":"https://openalex.org/I4210151935","display_name":"Dahua Technology (China)","ror":"https://ror.org/04k9ktn61","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210151935"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Renjie Zhou","raw_affiliation_strings":["Zhejiang Dahua Technology Co., Ltd.,Hangzhou,China"],"affiliations":[{"raw_affiliation_string":"Zhejiang Dahua Technology Co., Ltd.,Hangzhou,China","institution_ids":["https://openalex.org/I4210151935"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024716590","display_name":"Jiachen Li","orcid":"https://orcid.org/0000-0002-3543-6088"},"institutions":[{"id":"https://openalex.org/I4210151935","display_name":"Dahua Technology (China)","ror":"https://ror.org/04k9ktn61","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210151935"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiachen Li","raw_affiliation_strings":["Zhejiang Dahua Technology Co., Ltd.,Hangzhou,China"],"affiliations":[{"raw_affiliation_string":"Zhejiang Dahua Technology Co., Ltd.,Hangzhou,China","institution_ids":["https://openalex.org/I4210151935"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089467623","display_name":"Zhen Su","orcid":null},"institutions":[{"id":"https://openalex.org/I4210151935","display_name":"Dahua Technology (China)","ror":"https://ror.org/04k9ktn61","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210151935"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhen Su","raw_affiliation_strings":["Zhejiang Dahua Technology Co., Ltd.,Hangzhou,China"],"affiliations":[{"raw_affiliation_string":"Zhejiang Dahua Technology Co., Ltd.,Hangzhou,China","institution_ids":["https://openalex.org/I4210151935"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101707775","display_name":"Chao Lu","orcid":"https://orcid.org/0000-0002-4939-9759"},"institutions":[{"id":"https://openalex.org/I4210151935","display_name":"Dahua Technology (China)","ror":"https://ror.org/04k9ktn61","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210151935"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Lu","raw_affiliation_strings":["Zhejiang Dahua Technology Co., Ltd.,Hangzhou,China"],"affiliations":[{"raw_affiliation_string":"Zhejiang Dahua Technology Co., Ltd.,Hangzhou,China","institution_ids":["https://openalex.org/I4210151935"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101753861","display_name":"Zhengjun Wang","orcid":"https://orcid.org/0009-0004-8238-0154"},"institutions":[{"id":"https://openalex.org/I4210151935","display_name":"Dahua Technology (China)","ror":"https://ror.org/04k9ktn61","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210151935"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengjun Wang","raw_affiliation_strings":["Zhejiang Dahua Technology Co., Ltd.,Hangzhou,China"],"affiliations":[{"raw_affiliation_string":"Zhejiang Dahua Technology Co., Ltd.,Hangzhou,China","institution_ids":["https://openalex.org/I4210151935"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101907461"],"corresponding_institution_ids":["https://openalex.org/I4210151935"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.40230813,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6172","last_page":"6178"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.25769999623298645,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.25769999623298645,"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":0.243599995970726,"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/T11448","display_name":"Face recognition and analysis","score":0.17080000042915344,"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/feature","display_name":"Feature (linguistics)","score":0.692799985408783},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.5564000010490417},{"id":"https://openalex.org/keywords/weighting","display_name":"Weighting","score":0.5428000092506409},{"id":"https://openalex.org/keywords/intrinsics","display_name":"Intrinsics","score":0.49459999799728394},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.4754999876022339},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4754999876022339},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4681999981403351},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.45500001311302185},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4505000114440918}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7479000091552734},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7361000180244446},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.692799985408783},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.5564000010490417},{"id":"https://openalex.org/C183115368","wikidata":"https://www.wikidata.org/wiki/Q856577","display_name":"Weighting","level":2,"score":0.5428000092506409},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5260000228881836},{"id":"https://openalex.org/C2908650547","wikidata":"https://www.wikidata.org/wiki/Q20999234","display_name":"Intrinsics","level":2,"score":0.49459999799728394},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4754999876022339},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.4754999876022339},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4681999981403351},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.45500001311302185},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4505000114440918},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.39899998903274536},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.36329999566078186},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.3377000093460083},{"id":"https://openalex.org/C150921843","wikidata":"https://www.wikidata.org/wiki/Q1170431","display_name":"Resampling","level":2,"score":0.31850001215934753},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.3183000087738037},{"id":"https://openalex.org/C59404180","wikidata":"https://www.wikidata.org/wiki/Q17013334","display_name":"Feature learning","level":2,"score":0.31360000371932983},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.3093999922275543},{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.30309998989105225},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.29980000853538513},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.2987000048160553},{"id":"https://openalex.org/C53533937","wikidata":"https://www.wikidata.org/wiki/Q185020","display_name":"Histogram","level":3,"score":0.28679999709129333},{"id":"https://openalex.org/C101814296","wikidata":"https://www.wikidata.org/wiki/Q5439685","display_name":"Feature model","level":3,"score":0.28610000014305115},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.27300000190734863},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.2702000141143799},{"id":"https://openalex.org/C83665646","wikidata":"https://www.wikidata.org/wiki/Q42139305","display_name":"Feature vector","level":2,"score":0.2669999897480011},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.25699999928474426},{"id":"https://openalex.org/C182547069","wikidata":"https://www.wikidata.org/wiki/Q3009547","display_name":"Cytostasis","level":4,"score":0.2529999911785126}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247319","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247319","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W2194775991","https://openalex.org/W2954174912","https://openalex.org/W2963677766","https://openalex.org/W3035574168","https://openalex.org/W3109240920","https://openalex.org/W3109395584","https://openalex.org/W3172084025","https://openalex.org/W3203158837","https://openalex.org/W4214530037","https://openalex.org/W4225422725","https://openalex.org/W4225793049","https://openalex.org/W4312641958","https://openalex.org/W4312894406","https://openalex.org/W4382450829","https://openalex.org/W4382464460","https://openalex.org/W4383066393","https://openalex.org/W4383108631","https://openalex.org/W4386075696","https://openalex.org/W4402702974","https://openalex.org/W4402716226","https://openalex.org/W4403943748","https://openalex.org/W4409263061"],"related_works":[],"abstract_inverted_index":{"Bird\u2019s-Eye":[0],"View":[1],"(BEV)":[2],"perception":[3],"has":[4],"gained":[5],"significant":[6],"attention":[7],"in":[8,17,33,145],"autonomous":[9],"driving":[10],"and":[11,21,31,47,75,113,163,174],"robotics":[12],"due":[13],"to":[14,41,104,110,124,141],"its":[15],"advantages":[16],"simplifying":[18],"modality":[19],"alignment":[20],"feature":[22,81,115,121],"fusion.":[23],"Addressing":[24],"the":[25,69,96,130,159],"challenge":[26],"of":[27,156],"jointly":[28],"optimizing":[29],"performance":[30,144],"efficiency":[32],"2D-3D":[34],"view":[35,77,89,131],"transformation,":[36],"we":[37,67],"identify":[38],"that,":[39],"compared":[40],"depth":[42],"information":[43,54],"which":[44,72],"is":[45,139,178],"viewpoint-dependent":[46],"requires":[48],"camera":[49,61],"intrinsics":[50],"for":[51],"estimation,":[52],"height":[53,97],"can":[55],"maintains":[56],"prediction":[57],"consistency":[58],"across":[59],"different":[60],"perspectives.":[62],"Based":[63],"on":[64,85,158,166],"this":[65],"insight,":[66],"propose":[68],"HeightAware-BEV":[70,151],"framework,":[71],"achieves":[73,153],"efficient":[74,87,114],"accurate":[76],"transformation":[78,90,132],"through":[79],"height-aware":[80],"mapping.":[82],"(1)":[83],"Building":[84],"an":[86,154],"projection-based":[88],"approach,":[91],"3D":[92],"voxels":[93],"directly":[94],"query":[95],"probability":[98],"distribution":[99],"predicted":[100],"by":[101],"images":[102],"according":[103],"grid":[105],"height,":[106],"weighting":[107],"corresponding":[108],"features":[109,128],"enable":[111],"precise":[112],"projection;":[116],"(2)":[117],"Design":[118],"a":[119,135],"dynamic":[120],"filtering":[122],"mechanism":[123],"filter":[125],"out":[126],"task-irrelevant":[127],"during":[129],"process.":[133],"Additionally,":[134],"weakly-supervised":[136],"training":[137],"strategy":[138],"designed":[140],"improve":[142],"model":[143],"scenarios":[146],"with":[147],"limited":[148],"samples.":[149],"The":[150,176],"(R50@448\u00d7800)":[152],"IOU":[155],"47.8%":[157],"nuScenes":[160],"validation":[161],"set":[162],"60":[164],"FPS":[165],"2080Ti,":[167],"outperforming":[168],"advanced":[169],"methods":[170],"such":[171],"as":[172],"SimpleBEV":[173],"PointBEV.":[175],"code":[177],"available":[179],"at":[180],"https://github.com/Zhou-Renjie/HeightAware-BEV.":[181]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}
