mlsanityData to 14 Oct 2026

PETR: Position Embedding Transformation for Multi-View 3D Object Detection

arXiv 2203.05625 ↗First posted 10 Mar 2022cs.CVcited by 552

Not on the map. Why?

Cited by 66 in End-to-end autonomous driving, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

In this paper, we develop position embedding transformation (PETR) for multi-view 3D object detection. PETR encodes the position information of 3D coordinates into image features, producing the 3D position-aware features. Object query can perceive the 3D position-aware features and perform end-to-end object detection. PETR achieves state-of-the-art performance (50.4% NDS and 44.1% mAP) on standard nuScenes dataset and ranks 1st place on the benchmark. It can serve as a simple yet strong baseline for future research. Code is available at urlhttps://github.com/megvii-research/PETR.

Key facts. Cited by 552 papers in the map (data through 14 Oct 2026). Builds on 52 of its 58 references that are in the map. First posted on arXiv 10 Mar 2022.

Builds on

52 of 58 references.

References · 52

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38 more
  1. 2020Fourier Features Let Networks Learn High Frequency Functions in Low Dimensional Domainscited by 2,200
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  13. 2021DETR3D: 3D Object Detection from Multi-view Images via 3D-to-2D Queriescited by 658
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  18. 2021FCOS3D: Fully Convolutional One-Stage Monocular 3D Object Detectioncited by 447
  19. 2021Conditional DETR for Fast Training Convergencecited by 424
  20. 2019Class-balanced Grouping and Sampling for Point Cloud 3D Object Detectioncited by 350
  21. 2021Categorical Depth Distribution Network for Monocular 3D Object Detectioncited by 327
  22. 2020Deep Local Shapes: Learning Local SDF Priors for Detailed 3D Reconstructioncited by 321
  23. 20163D Bounding Box Estimation Using Deep Learning and Geometrycited by 278
  24. 2019M3D-RPN: Monocular 3D Region Proposal Network for Object Detectioncited by 252
  25. 2021Is Pseudo-Lidar needed for Monocular 3D Object detection?cited by 249
  26. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
  27. 2019Disentangling Monocular 3D Object Detectioncited by 217
  28. 2021Rethinking and Improving Relative Position Encoding for Vision Transformercited by 207
  29. 2018Orthographic Feature Transform for Monocular 3D Object Detectioncited by 202
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  31. 2021Probabilistic and Geometric Depth: Detecting Objects in Perspectivecited by 191
  32. 2022MeMViT: Memory-Augmented Multiscale Vision Transformer for Efficient Long-Term Video Recognitioncited by 189
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  35. 2021ImVoxelNet: Image to Voxels Projection for Monocular and Multi-View General-Purpose 3D Object Detectioncited by 157
  36. 2020Rethinking Transformer-based Set Prediction for Object Detectioncited by 156
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  38. 2020DSGN: Deep Stereo Geometry Network for 3D Object Detectioncited by 101

50 most cited of 52 All 52 (JSON)

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2022: 53; 2023: 141; 2024: 163; 2025: 102; 2026: 93.

552 papers.

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  1. 2022BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representationcited by 850
  2. 2024RDT-1B: a Diffusion Foundation Model for Bimanual Manipulationcited by 691
  3. 2023VAD: Vectorized Scene Representation for Efficient Autonomous Drivingcited by 622
  4. 2022BEVDepth: Acquisition of Reliable Depth for Multi-view 3D Object Detectioncited by 572
  5. 2023Tri-Perspective View for Vision-Based 3D Semantic Occupancy Predictioncited by 409
  6. 2022PETRv2: A Unified Framework for 3D Perception from Multi-Camera Imagescited by 352
  7. 2022BEVDet4D: Exploit Temporal Cues in Multi-camera 3D Object Detectioncited by 341
  8. 2023Occ3D: A Large-Scale 3D Occupancy Prediction Benchmark for Autonomous Drivingcited by 332
  9. 2023SurroundOcc: Multi-Camera 3D Occupancy Prediction for Autonomous Drivingcited by 316
  10. 2023Exploring Object-Centric Temporal Modeling for Efficient Multi-View 3D Object Detectioncited by 315
  11. 2022BEVFormer v2: Adapting Modern Image Backbones to Bird's-Eye-View Recognition via Perspective Supervisioncited by 302
  12. 2023OccFormer: Dual-path Transformer for Vision-based 3D Semantic Occupancy Predictioncited by 293
38 more
  1. 2024SparseDrive: End-to-End Autonomous Driving via Sparse Scene Representationcited by 241
  2. 2024GenAD: Generative End-to-End Autonomous Drivingcited by 225
  3. 2022Unifying Voxel-based Representation with Transformer for 3D Object Detectioncited by 202
  4. 2023MapTRv2: An End-to-End Framework for Online Vectorized HD Map Constructioncited by 193
  5. 2022BEVerse: Unified Perception and Prediction in Birds-Eye-View for Vision-Centric Autonomous Drivingcited by 191
  6. 2024LLaVA-3D: A Simple yet Effective Pathway to Empowering LMMs with 3D-awarenesscited by 183
  7. 2022Time Will Tell: New Outlooks and A Baseline for Temporal Multi-View 3D Object Detectioncited by 178
  8. 2025ORION: A Holistic End-to-End Autonomous Driving Framework by Vision-Language Instructed Action Generationcited by 178
  9. 2023Think Twice before Driving: Towards Scalable Decoders for End-to-End Autonomous Drivingcited by 169
  10. 2023Panacea: Panoramic and Controllable Video Generation for Autonomous Drivingcited by 168
  11. 2024Enhancing End-to-End Autonomous Driving with Latent World Modelcited by 166
  12. 2022Sparse4D: Multi-view 3D Object Detection with Sparse Spatial-Temporal Fusioncited by 162
  13. 2022DETRs with Hybrid Matchingcited by 150
  14. 2023SparseBEV: High-Performance Sparse 3D Object Detection from Multi-Camera Videoscited by 150
  15. 2025OmniDrive: A Holistic Vision-Language Dataset for Autonomous Driving with Counterfactual Reasoningcited by 143
  16. 20223D Object Detection for Autonomous Driving: A Comprehensive Surveycited by 132
  17. 2023RenderOcc: Vision-Centric 3D Occupancy Prediction with 2D Rendering Supervisioncited by 128
  18. 2022Vision-Centric BEV Perception: A Surveycited by 126
  19. 2025DriveTransformer: Unified Transformer for Scalable End-to-End Autonomous Drivingcited by 126
  20. 2022DeepInteraction: 3D Object Detection via Modality Interactioncited by 125
  21. 2022Delving into the Devils of Bird's-eye-view Perception: A Review, Evaluation and Recipecited by 122
  22. 2022ViP3D: End-to-end Visual Trajectory Prediction via 3D Agent Queriescited by 117
  23. 2023Language Prompt for Autonomous Drivingcited by 111
  24. 2023ADriver-I: A General World Model for Autonomous Drivingcited by 104
  25. 2023FlashOcc: Fast and Memory-Efficient Occupancy Prediction via Channel-to-Height Plugincited by 103
  26. 2023Visual Point Cloud Forecasting enables Scalable Autonomous Drivingcited by 99
  27. 2022Group DETR: Fast DETR Training with Group-Wise One-to-Many Assignmentcited by 98
  28. 2023FB-BEV: BEV Representation from Forward-Backward View Transformationscited by 98
  29. 2023COTR: Compact Occupancy TRansformer for Vision-based 3D Occupancy Predictioncited by 96
  30. 2025World4Drive: End-to-End Autonomous Driving via Intention-aware Physical Latent World Modelcited by 95
  31. 2023Sparse4D v2: Recurrent Temporal Fusion with Sparse Modelcited by 93
  32. 2022BEVStereo: Enhancing Depth Estimation in Multi-view 3D Object Detection with Dynamic Temporal Stereocited by 90
  33. 2023Symphonize 3D Semantic Scene Completion with Contextual Instance Queriescited by 90
  34. 2022MonoDETR: Depth-guided Transformer for Monocular 3D Object Detectioncited by 86
  35. 2023SparseFusion: Fusing Multi-Modal Sparse Representations for Multi-Sensor 3D Object Detectioncited by 83
  36. 2023CRN: Camera Radar Net for Accurate, Robust, Efficient 3D Perceptioncited by 82
  37. 2023End-to-End Vectorized HD-map Construction with Piecewise Bezier Curvecited by 82
  38. 2024RCBEVDet: Radar-camera Fusion in Bird's Eye View for 3D Object Detectioncited by 82

50 most cited of 552 All 552 (JSON)