{"id":"https://openalex.org/W4415821054","doi":"https://doi.org/10.1109/tits.2025.3624830","title":"Delving Into the Secrets of BEV 3D Object Detection in Autonomous Driving: A Comprehensive Survey","display_name":"Delving Into the Secrets of BEV 3D Object Detection in Autonomous Driving: A Comprehensive Survey","publication_year":2025,"publication_date":"2025-11-03","ids":{"openalex":"https://openalex.org/W4415821054","doi":"https://doi.org/10.1109/tits.2025.3624830"},"language":null,"primary_location":{"id":"doi:10.1109/tits.2025.3624830","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3624830","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"is_oa":false,"is_in_doaj":false,"is_core":true,"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Transportation Systems","raw_type":"journal-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":null,"display_name":"Haoyu Li","orcid":"https://orcid.org/0009-0001-5494-0220"},"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":true,"raw_author_name":"Haoyu Li","raw_affiliation_strings":["National Engineering Research Center for Electric Vehicles, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"National Engineering Research Center for Electric Vehicles, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100308133","display_name":"Yueran Zhao","orcid":"https://orcid.org/0009-0008-2067-7840"},"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":"Yueran Zhao","raw_affiliation_strings":["National Engineering Research Center for Electric Vehicles, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"National Engineering Research Center for Electric Vehicles, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085224693","display_name":"Jiaru Zhong","orcid":"https://orcid.org/0009-0003-5701-1720"},"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":"Jiaru Zhong","raw_affiliation_strings":["National Engineering Research Center for Electric Vehicles, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"National Engineering Research Center for Electric Vehicles, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102846377","display_name":"Bo Wang","orcid":"https://orcid.org/0000-0003-2241-9593"},"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":"Bo Wang","raw_affiliation_strings":["National Engineering Research Center for Electric Vehicles, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"National Engineering Research Center for Electric Vehicles, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087977761","display_name":"Chao Sun","orcid":"https://orcid.org/0000-0002-9324-0892"},"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":"Chao Sun","raw_affiliation_strings":["National Engineering Research Center for Electric Vehicles, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"National Engineering Research Center for Electric Vehicles, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108048515","display_name":"Fengchun Sun","orcid":"https://orcid.org/0000-0001-9524-9367"},"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":"Fengchun Sun","raw_affiliation_strings":["National Engineering Research Center for Electric Vehicles, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"National Engineering Research Center for Electric Vehicles, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.31885721,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"27","issue":"1","first_page":"119","last_page":"144"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.7512999773025513,"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":0.7512999773025513,"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/T11605","display_name":"Visual Attention and Saliency Detection","score":0.08370000123977661,"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":0.07249999791383743,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.7146000266075134},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6040999889373779},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5982999801635742},{"id":"https://openalex.org/keywords/usability","display_name":"Usability","score":0.4359000027179718},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4072999954223633}],"concepts":[{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.7146000266075134},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6399000287055969},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6040999889373779},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5982999801635742},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5267000198364258},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4496999979019165},{"id":"https://openalex.org/C170130773","wikidata":"https://www.wikidata.org/wiki/Q216378","display_name":"Usability","level":2,"score":0.4359000027179718},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4072999954223633},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3718999922275543},{"id":"https://openalex.org/C2522767166","wikidata":"https://www.wikidata.org/wiki/Q2374463","display_name":"Data science","level":1,"score":0.35260000824928284},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.31769999861717224},{"id":"https://openalex.org/C4641261","wikidata":"https://www.wikidata.org/wiki/Q11681085","display_name":"Face detection","level":4,"score":0.267300009727478},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.2535000145435333}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2025.3624830","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3624830","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"is_oa":false,"is_in_doaj":false,"is_core":true,"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Transportation Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2497285764","display_name":null,"funder_award_id":"2022YFB2503203","funder_id":"https://openalex.org/F4320327808","funder_display_name":"Yunnan Key Research and Development Program"},{"id":"https://openalex.org/G8368601664","display_name":null,"funder_award_id":"2023B0909040001","funder_id":"https://openalex.org/F4320336742","funder_display_name":"Key Research and Development Program of Liaoning Province"}],"funders":[{"id":"https://openalex.org/F4320327808","display_name":"Yunnan Key Research and Development Program","ror":null},{"id":"https://openalex.org/F4320336742","display_name":"Key Research and Development Program of Liaoning Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":308,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W2118223742","https://openalex.org/W2140515654","https://openalex.org/W2150066425","https://openalex.org/W2194775991","https://openalex.org/W2340897893","https://openalex.org/W2431874326","https://openalex.org/W2468368736","https://openalex.org/W2555618208","https://openalex.org/W2565639579","https://openalex.org/W2601564443","https://openalex.org/W2615547864","https://openalex.org/W2737260104","https://openalex.org/W2798965597","https://openalex.org/W2896642734","https://openalex.org/W2897529137","https://openalex.org/W2897570382","https://openalex.org/W2949708697","https://openalex.org/W2955189650","https://openalex.org/W2963121255","https://openalex.org/W2963292632","https://openalex.org/W2963727135","https://openalex.org/W2967324759","https://openalex.org/W2967793699","https://openalex.org/W2968296999","https://openalex.org/W2969781814","https://openalex.org/W2970747642","https://openalex.org/W2979810270","https://openalex.org/W2979912832","https://openalex.org/W2982681137","https://openalex.org/W2985739927","https://openalex.org/W2996759437","https://openalex.org/W3004384589","https://openalex.org/W3017930107","https://openalex.org/W3027600384","https://openalex.org/W3033088261","https://openalex.org/W3034295100","https://openalex.org/W3034543232","https://openalex.org/W3035098634","https://openalex.org/W3035172746","https://openalex.org/W3035346742","https://openalex.org/W3035428054","https://openalex.org/W3035461736","https://openalex.org/W3035564946","https://openalex.org/W3035574168","https://openalex.org/W3036962712","https://openalex.org/W3039448353","https://openalex.org/W3043442345","https://openalex.org/W3043667442","https://openalex.org/W3087402140","https://openalex.org/W3090139470","https://openalex.org/W3090375251","https://openalex.org/W3105073457","https://openalex.org/W3107147550","https://openalex.org/W3109395584","https://openalex.org/W3109991383","https://openalex.org/W3117590843","https://openalex.org/W3118132944","https://openalex.org/W3120891544","https://openalex.org/W3123928227","https://openalex.org/W3129258287","https://openalex.org/W3130463448","https://openalex.org/W3135204376","https://openalex.org/W3166470370","https://openalex.org/W3167095230","https://openalex.org/W3167214600","https://openalex.org/W3170030651","https://openalex.org/W3172931637","https://openalex.org/W3173668541","https://openalex.org/W3176740453","https://openalex.org/W3177276051","https://openalex.org/W3185677907","https://openalex.org/W3192851879","https://openalex.org/W3201193904","https://openalex.org/W3204792207","https://openalex.org/W3208388495","https://openalex.org/W3208941688","https://openalex.org/W3209639308","https://openalex.org/W3210065386","https://openalex.org/W3210139285","https://openalex.org/W3211437387","https://openalex.org/W3215775659","https://openalex.org/W4210674219","https://openalex.org/W4213176388","https://openalex.org/W4213402071","https://openalex.org/W4213456346","https://openalex.org/W4214536434","https://openalex.org/W4214777292","https://openalex.org/W4214881827","https://openalex.org/W4225517120","https://openalex.org/W4225793049","https://openalex.org/W4225818300","https://openalex.org/W4225976909","https://openalex.org/W4225986494","https://openalex.org/W4230808100","https://openalex.org/W4281821179","https://openalex.org/W4283395662","https://openalex.org/W4285102350","https://openalex.org/W4285606661","https://openalex.org/W4285813083","https://openalex.org/W4286544732","https://openalex.org/W4287887906","https://openalex.org/W4292092641","https://openalex.org/W4292347911","https://openalex.org/W4293093948","https://openalex.org/W4307060939","https://openalex.org/W4308080461","https://openalex.org/W4312309370","https://openalex.org/W4312336128","https://openalex.org/W4312492443","https://openalex.org/W4312501532","https://openalex.org/W4312511033","https://openalex.org/W4312571135","https://openalex.org/W4312604822","https://openalex.org/W4312617306","https://openalex.org/W4312707458","https://openalex.org/W4312811864","https://openalex.org/W4312894406","https://openalex.org/W4312939270","https://openalex.org/W4312953085","https://openalex.org/W4313028649","https://openalex.org/W4313121901","https://openalex.org/W4313142137","https://openalex.org/W4315643990","https://openalex.org/W4319299982","https://openalex.org/W4320002769","https://openalex.org/W4320058930","https://openalex.org/W4323647389","https://openalex.org/W4327692895","https://openalex.org/W4327767782","https://openalex.org/W4352977781","https://openalex.org/W4362654659","https://openalex.org/W4365129310","https://openalex.org/W4367147113","https://openalex.org/W4367182782","https://openalex.org/W4376456718","https://openalex.org/W4378696925","https://openalex.org/W4380318404","https://openalex.org/W4382450829","https://openalex.org/W4382461030","https://openalex.org/W4382464460","https://openalex.org/W4382469124","https://openalex.org/W4383066393","https://openalex.org/W4383097534","https://openalex.org/W4383097627","https://openalex.org/W4383101263","https://openalex.org/W4383108477","https://openalex.org/W4383108631","https://openalex.org/W4383108834","https://openalex.org/W4383899715","https://openalex.org/W4385301252","https://openalex.org/W4385302112","https://openalex.org/W4385312729","https://openalex.org/W4385324661","https://openalex.org/W4385574728","https://openalex.org/W4385801646","https://openalex.org/W4385804883","https://openalex.org/W4385975752","https://openalex.org/W4386038339","https://openalex.org/W4386065453","https://openalex.org/W4386065958","https://openalex.org/W4386065992","https://openalex.org/W4386066469","https://openalex.org/W4386066534","https://openalex.org/W4386071585","https://openalex.org/W4386075590","https://openalex.org/W4386075696","https://openalex.org/W4386075854","https://openalex.org/W4386076066","https://openalex.org/W4386076226","https://openalex.org/W4386076253","https://openalex.org/W4386076400","https://openalex.org/W4386076457","https://openalex.org/W4386076483","https://openalex.org/W4386076540","https://openalex.org/W4386076547","https://openalex.org/W4386083148","https://openalex.org/W4386320422","https://openalex.org/W4386320457","https://openalex.org/W4386616737","https://openalex.org/W4386634496","https://openalex.org/W4387092527","https://openalex.org/W4387245323","https://openalex.org/W4387245341","https://openalex.org/W4387444441","https://openalex.org/W4387448642","https://openalex.org/W4387449317","https://openalex.org/W4387623691","https://openalex.org/W4387635378","https://openalex.org/W4388052766","https://openalex.org/W4388430508","https://openalex.org/W4388579784","https://openalex.org/W4388757371","https://openalex.org/W4389352416","https://openalex.org/W4389543048","https://openalex.org/W4389667219","https://openalex.org/W4389724107","https://openalex.org/W4389987531","https://openalex.org/W4390871713","https://openalex.org/W4390872227","https://openalex.org/W4390872346","https://openalex.org/W4390872423","https://openalex.org/W4390872451","https://openalex.org/W4390872460","https://openalex.org/W4390872473","https://openalex.org/W4390873140","https://openalex.org/W4390873604","https://openalex.org/W4390874111","https://openalex.org/W4390874155","https://openalex.org/W4390874213","https://openalex.org/W4390874297","https://openalex.org/W4390874598","https://openalex.org/W4391428224","https://openalex.org/W4391768407","https://openalex.org/W4391768470","https://openalex.org/W4391769072","https://openalex.org/W4391953471","https://openalex.org/W4392016505","https://openalex.org/W4392207961","https://openalex.org/W4392397377","https://openalex.org/W4392502315","https://openalex.org/W4392668894","https://openalex.org/W4393032756","https://openalex.org/W4393148430","https://openalex.org/W4393153738","https://openalex.org/W4393159692","https://openalex.org/W4394592975","https://openalex.org/W4394711210","https://openalex.org/W4395685768","https://openalex.org/W4396542383","https://openalex.org/W4396754486","https://openalex.org/W4398249471","https://openalex.org/W4399168164","https://openalex.org/W4399666337","https://openalex.org/W4399955434","https://openalex.org/W4400035744","https://openalex.org/W4400645639","https://openalex.org/W4400646392","https://openalex.org/W4400647992","https://openalex.org/W4400649817","https://openalex.org/W4401326214","https://openalex.org/W4401413925","https://openalex.org/W4401414525","https://openalex.org/W4401416408","https://openalex.org/W4401417266","https://openalex.org/W4401543285","https://openalex.org/W4401634204","https://openalex.org/W4401891859","https://openalex.org/W4402703030","https://openalex.org/W4402716162","https://openalex.org/W4402727396","https://openalex.org/W4402727636","https://openalex.org/W4402727875","https://openalex.org/W4402753386","https://openalex.org/W4402753788","https://openalex.org/W4402753960","https://openalex.org/W4402754159","https://openalex.org/W4402778069","https://openalex.org/W4402978459","https://openalex.org/W4403061215","https://openalex.org/W4403391446","https://openalex.org/W4403706620","https://openalex.org/W4403841936","https://openalex.org/W4403842139","https://openalex.org/W4403843208","https://openalex.org/W4403878466","https://openalex.org/W4403888181","https://openalex.org/W4404002903","https://openalex.org/W4404546564","https://openalex.org/W4404563280","https://openalex.org/W4404719654","https://openalex.org/W4404722496","https://openalex.org/W4405787442","https://openalex.org/W4406521384","https://openalex.org/W4406983055","https://openalex.org/W4407468749","https://openalex.org/W4408183100","https://openalex.org/W4408353542","https://openalex.org/W4408697205","https://openalex.org/W4409102112","https://openalex.org/W4409365579","https://openalex.org/W4409365926","https://openalex.org/W4409366191","https://openalex.org/W4409368133","https://openalex.org/W4409370089","https://openalex.org/W4409473806","https://openalex.org/W4410738573","https://openalex.org/W4412536379","https://openalex.org/W4413146142","https://openalex.org/W4413146302","https://openalex.org/W4413147287","https://openalex.org/W4413155911","https://openalex.org/W4413156350","https://openalex.org/W4413157439","https://openalex.org/W4413158214","https://openalex.org/W4413822378","https://openalex.org/W4413925316","https://openalex.org/W4413925597","https://openalex.org/W4413947039","https://openalex.org/W4414197100","https://openalex.org/W4414197437","https://openalex.org/W4415796939","https://openalex.org/W4415798919","https://openalex.org/W4415799242","https://openalex.org/W4416748948","https://openalex.org/W4416988048","https://openalex.org/W7084141130","https://openalex.org/W7105833406"],"related_works":[],"abstract_inverted_index":{"3D":[0,34],"object":[1],"detection":[2,35],"plays":[3],"a":[4,56,68,77],"crucial":[5],"role":[6],"in":[7,62],"autonomous":[8],"driving,":[9],"with":[10],"Bird\u2019s":[11],"Eye":[12],"View":[13],"(BEV)":[14],"becoming":[15],"increasingly":[16],"popular":[17],"for":[18,85],"its":[19,30],"rich":[20],"contextual":[21],"information,":[22],"ease":[23],"of":[24,59,80,95],"multi-modal":[25,42,139],"fusion,":[26,43],"and":[27,50,65,103,115,149],"scalability.":[28],"Despite":[29],"advantages,":[31],"current":[32],"BEV-based":[33],"methods":[36],"still":[37],"face":[38],"significant":[39],"challenges,":[40],"including":[41],"communication":[44],"bottlenecks,":[45],"robustness":[46],"under":[47],"varying":[48],"conditions,":[49],"safety":[51],"concerns.":[52],"This":[53],"survey":[54,91],"provides":[55],"systematic":[57],"review":[58],"recent":[60],"advancements":[61],"BEV":[63,108],"perception,":[64],"meanwhile":[66],"organizes":[67],"research":[69],"based":[70],"on":[71,106,112],"these":[72],"focal":[73],"areas.":[74],"It":[75],"spans":[76],"broad":[78],"range":[79],"perspectives,":[81],"offering":[82],"valuable":[83],"insights":[84],"future":[86,118],"perception":[87,109,127,154],"research.":[88],"Additionally,":[89],"this":[90],"explores":[92],"the":[93],"influence":[94],"emerging":[96],"technologies,":[97],"such":[98],"as":[99],"large":[100],"language":[101],"models":[102],"end-to-end":[104,158],"frameworks":[105,155],"enhancing":[107],"capabilities,":[110],"focusing":[111],"improving":[113],"performance":[114],"robustness.":[116],"Key":[117],"directions":[119],"would":[120],"include:":[121],"1)":[122],"advancement":[123],"from":[124,135,143,152],"isolated":[125],"vehicle":[126],"to":[128,137,146,156],"vehicle-to-everything":[129],"(V2X)":[130],"cooperative":[131],"perception;":[132],"2)":[133],"evolution":[134],"single-modal":[136],"integrated":[138],"fusion;":[140],"3)":[141],"shift":[142],"simulated":[144],"environments":[145],"real-world":[147],"applications;":[148],"4)":[150],"transition":[151],"hierarchical":[153],"interpretable,":[157],"large-scale":[159],"models.":[160]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-03T00:00:00"}