mlsanityData to 7 Oct 2026

Polar Parametrization for Vision-based Surround-View 3D Detection

arXiv 2206.10965 ↗First posted 22 Jun 2022cs.CVcited by 53

Not on the map. Why?

Abstract (arXiv)

3D detection based on surround-view camera system is a critical technique in autopilot. In this work, we present Polar Parametrization for 3D detection, which reformulates position parametrization, velocity decomposition, perception range, label assignment and loss function in polar coordinate system. Polar Parametrization establishes explicit associations between image patterns and prediction targets, exploiting the view symmetry of surround-view cameras as inductive bias to ease optimization and boost performance. Based on Polar Parametrization, we propose a surround-view 3D DEtection TRansformer, named PolarDETR. PolarDETR achieves promising performance-speed trade-off on different backbone configurations. Besides, PolarDETR ranks 1st on the leaderboard of nuScenes benchmark in terms of both 3D detection and 3D tracking at the submission time (Mar. 4th, 2022). Code will be released at urlhttps://github.com/hustvl/PolarDETR.

Key facts. Cited by 53 papers in the map (data through 7 Oct 2026). Builds on 53 of its 63 references that are in the map. First posted on arXiv 22 Jun 2022.

Builds on

53 of 63 references.

References · 53

  1. 2017Attention Is All You Needcited by 59,932
  2. 2019PyTorch: An Imperative Style, High-Performance Deep Learning Librarycited by 20,160
  3. 2020End-to-End Object Detection with Transformerscited by 7,384
  4. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  5. 2020Deformable DETR: Deformable Transformers for End-to-End Object Detectioncited by 3,410
  6. 2017VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detectioncited by 1,323
  7. 2018On the Continuity of Rotation Representations in Neural Networkscited by 1,186
  8. 2020Center-based 3D Object Detection and Trackingcited by 1,143
  9. 2018PointRCNN: 3D Object Proposal Generation and Detection from Point Cloudcited by 939
  10. 2016Multi-View 3D Object Detection Network for Autonomous Drivingcited by 721
  11. 2021BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-Viewcited by 711
  12. 2018Deformable ConvNets v2: More Deformable, Better Resultscited by 666
38 more
  1. 2021DETR3D: 3D Object Detection from Multi-view Images via 3D-to-2D Queriescited by 655
  2. 2019Deep Hough Voting for 3D Object Detection in Point Cloudscited by 648
  3. 2017Frustum PointNets for 3D Object Detection from RGB-D Datacited by 640
  4. 2022BEVDepth: Acquisition of Reliable Depth for Multi-view 3D Object Detectioncited by 568
  5. 2022PETR: Position Embedding Transformation for Multi-View 3D Object Detectioncited by 550
  6. 2021FCOS3D: Fully Convolutional One-Stage Monocular 3D Object Detectioncited by 444
  7. 2021Conditional DETR for Fast Training Convergencecited by 422
  8. 2020Cylindrical and Asymmetrical 3D Convolution Networks for LiDAR Segmentationcited by 388
  9. 2019PIXOR: Real-time 3D Object Detection from Point Cloudscited by 358
  10. 2021Categorical Depth Distribution Network for Monocular 3D Object Detectioncited by 326
  11. 2017Joint 3D Proposal Generation and Object Detection from View Aggregationcited by 325
  12. 2019Deep Multi-modal Object Detection and Semantic Segmentation for Autonomous Driving: Datasets, Methods, and Challengescited by 313
  13. 2019STD: Sparse-to-Dense 3D Object Detector for Point Cloudcited by 282
  14. 2020PolarNet: An Improved Grid Representation for Online LiDAR Point Clouds Semantic Segmentationcited by 274
  15. 2020Deep Continuous Fusion for Multi-Sensor 3D Object Detectioncited by 263
  16. 2021Is Pseudo-Lidar needed for Monocular 3D Object detection?cited by 248
  17. 2020Multi-Task Multi-Sensor Fusion for 3D Object Detectioncited by 203
  18. 2020SMOKE: Single-Stage Monocular 3D Object Detection via Keypoint Estimationcited by 202
  19. 2022Unifying Voxel-based Representation with Transformer for 3D Object Detectioncited by 202
  20. 2021Probabilistic and Geometric Depth: Detecting Objects in Perspectivecited by 190
  21. 2019PolarMask: Single Shot Instance Segmentation with Polar Representationcited by 188
  22. 2021Objects are Different: Flexible Monocular 3D Object Detectioncited by 184
  23. 2021Fast Convergence of DETR with Spatially Modulated Co-Attentioncited by 176
  24. 2019An Energy and GPU-Computation Efficient Backbone Network for Real-Time Object Detectioncited by 163
  25. 2021Geometry Uncertainty Projection Network for Monocular 3D Object Detectioncited by 155
  26. 2015End-to-end people detection in crowded scenescited by 140
  27. 2021RangeDet:In Defense of Range View for LiDAR-based 3D Object Detectioncited by 140
  28. 2019LaserNet: An Efficient Probabilistic 3D Object Detector for Autonomous Drivingcited by 133
  29. 2019Fast Point R-CNNcited by 119
  30. 2021RSN: Range Sparse Net for Efficient, Accurate LiDAR 3D Object Detectioncited by 115
  31. 2015Deep Sliding Shapes for Amodal 3D Object Detection in RGB-D Imagescited by 111
  32. 2021Sparse DETR: Efficient End-to-End Object Detection with Learnable Sparsitycited by 98
  33. 2021AutoShape: Real-Time Shape-Aware Monocular 3D Object Detectioncited by 87
  34. 2021Depth-conditioned Dynamic Message Propagation for Monocular 3D Object Detectioncited by 84
  35. 2021Monocular 3D Object Detection: An Extrinsic Parameter Free Approachcited by 69
  36. 2021GrooMeD-NMS: Grouped Mathematically Differentiable NMS for Monocular 3D Object Detectioncited by 66
  37. 2021Direct Multi-view Multi-person 3D Pose Estimationcited by 64
  38. 2021Progressive Coordinate Transforms for Monocular 3D Object Detectioncited by 52

50 most cited of 53 All 53 (JSON)

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 12; 2023: 20; 2024: 12; 2025: 7; 2026: 2.

53 papers.

Sort:

By area:

  1. 2024DiffusionDrive: Truncated Diffusion Model for End-to-End Autonomous Drivingcited by 324
  2. 2023Exploring Object-Centric Temporal Modeling for Efficient Multi-View 3D Object Detectioncited by 313
  3. 2022Time Will Tell: New Outlooks and A Baseline for Temporal Multi-View 3D Object Detectioncited by 177
  4. 2022Sparse4D: Multi-view 3D Object Detection with Sparse Spatial-Temporal Fusioncited by 161
  5. 2022Vision-Centric BEV Perception: A Surveycited by 126
  6. 2023FB-BEV: BEV Representation from Forward-Backward View Transformationscited by 98
  7. 2023Symphonize 3D Semantic Scene Completion with Contextual Instance Queriescited by 88
  8. 2023BEVHeight: A Robust Framework for Vision-based Roadside 3D Object Detectioncited by 74
  9. 2023Sparse4D v3: Advancing End-to-End 3D Detection and Trackingcited by 69
  10. 2023Exploring Recurrent Long-term Temporal Fusion for Multi-view 3D Perceptioncited by 65
  11. 2023Camera-based 3D Semantic Scene Completion with Sparse Guidance Networkcited by 40
  12. 2023Object as Query: Lifting any 2D Object Detector to 3D Detectioncited by 38
38 more
  1. 2023EA-LSS: Edge-aware Lift-splat-shot Framework for 3D BEV Object Detectioncited by 38
  2. 2023BEVHeight++: Toward Robust Visual Centric 3D Object Detectioncited by 29
  3. 2023Grid-Centric Traffic Scenario Perception for Autonomous Driving: A Comprehensive Reviewcited by 25
  4. 2022Vision-based Uneven BEV Representation Learning with Polar Rasterization and Surface Estimationcited by 23
  5. 2022ShaSTA: Modeling Shape and Spatio-Temporal Affinities for 3D Multi-Object Trackingcited by 21
  6. 2022DETR4D: Direct Multi-View 3D Object Detection with Sparse Attentioncited by 21
  7. 2022BEV-SAN: Accurate BEV 3D Object Detection via Slice Attention Networkscited by 20
  8. 2023ByteTrackV2: 2D and 3D Multi-Object Tracking by Associating Every Detection Boxcited by 20
  9. 2022AeDet: Azimuth-invariant Multi-view 3D Object Detectioncited by 19
  10. 2023HeightFormer: Explicit Height Modeling without Extra Data for Camera-only 3D Object Detection in Bird's Eye Viewcited by 19
  11. 2024OccFeat: Self-supervised Occupancy Feature Prediction for Pretraining BEV Segmentation Networkscited by 17
  12. 2022A Simple Baseline for Multi-Camera 3D Object Detectioncited by 16
  13. 2023Surround-View Vision-based 3D Detection for Autonomous Driving: A Surveycited by 14
  14. 2024Improving Bird's Eye View Semantic Segmentation by Task Decompositioncited by 13
  15. 2023DORT: Modeling Dynamic Objects in Recurrent for Multi-Camera 3D Object Detection and Trackingcited by 11
  16. 2023SimDistill: Simulated Multi-modal Distillation for BEV 3D Object Detectioncited by 10
  17. 2023OCBEV: Object-Centric BEV Transformer for Multi-View 3D Object Detectioncited by 10
  18. 2024LabelDistill: Label-guided Cross-modal Knowledge Distillation for Camera-based 3D Object Detectioncited by 9
  19. 2023NVAutoNet: Fast and Accurate 360circ 3D Visual Perception For Self Drivingcited by 6
  20. 2023Predict to Detect: Prediction-guided 3D Object Detection using Sequential Imagescited by 6
  21. 2022BEVUDA: Multi-geometric Space Alignments for Domain Adaptive BEV 3D Object Detectioncited by 5
  22. 2024DA-BEV: Unsupervised Domain Adaptation for Bird's Eye View Perceptioncited by 5
  23. 2024TempBEV: Improving Learned BEV Encoders with Combined Image and BEV Space Temporal Aggregationcited by 5
  24. 2024MambaBEV: An EV-based 3D detection model with Mamba2cited by 4
  25. 2022SRCN3D: Sparse R-CNN 3D for Compact Convolutional Multi-View 3D Object Detection and Trackingcited by 3
  26. 2022Multi-Camera Calibration Free BEV Representation for 3D Object Detectioncited by 3
  27. 2024PolarBEVDet: Exploring Polar Representation for Multi-View 3D Object Detection in Bird's-Eye-Viewcited by 3
  28. 2024DuoSpaceNet: Leveraging Both Bird's-Eye-View and Perspective View Representations for 3D Object Detectioncited by 2
  29. 2025RESAR-BEV: An Explainable Progressive Residual Autoregressive Approach for Camera-Radar Fusion in BEV Segmentationcited by 2
  30. 2025FreqPDE: Rethinking Positional Depth Embedding for Multi-View 3D Object Detection Transformerscited by 2
  31. 2025Map-World: Masked Action planning and Path-Integral World Model for Autonomous Drivingcited by 2
  32. 2024AdaOcc: Adaptive-Resolution Occupancy Predictioncited by 1
  33. 2024HeightFormer: A Semantic Alignment Monocular 3D Object Detection Method from Roadside Perspectivecited by 1
  34. 2025Progressive Bird's Eye View Perception for Safety-Critical Autonomous Driving: A Comprehensive Surveycited by 1
  35. 2025BEVUDA++: Geometric-aware Unsupervised Domain Adaptation for Multi-View 3D Object Detectioncited by 1
  36. 2023PolarRec: Radio Interferometric Data Reconstruction with Polar Coordinate Representationcited by 0
  37. 2024SoundLoc3D: Invisible 3D Sound Source Localization and Classification Using a Multimodal RGB-D Acoustic Cameracited by 0
  38. 2025Omnidirectional Depth-Aided Occupancy Prediction based on Cylindrical Voxel for Autonomous Drivingcited by 0

50 most cited of 53 All 53 (JSON)