mlsanityData to 7 Oct 2026

AeDet: Azimuth-invariant Multi-view 3D Object Detection

arXiv 2211.12501 ↗First posted 22 Nov 2022cs.CVcited by 19

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Abstract (arXiv)

Recent LSS-based multi-view 3D object detection has made tremendous progress, by processing the features in Brid-Eye-View (BEV) via the convolutional detector. However, the typical convolution ignores the radial symmetry of the BEV features and increases the difficulty of the detector optimization. To preserve the inherent property of the BEV features and ease the optimization, we propose an azimuth-equivariant convolution (AeConv) and an azimuth-equivariant anchor. The sampling grid of AeConv is always in the radial direction, thus it can learn azimuth-invariant BEV features. The proposed anchor enables the detection head to learn predicting azimuth-irrelevant targets. In addition, we introduce a camera-decoupled virtual depth to unify the depth prediction for the images with different camera intrinsic parameters. The resultant detector is dubbed Azimuth-equivariant Detector (AeDet). Extensive experiments are conducted on nuScenes, and AeDet achieves a 62.0% NDS, surpassing the recent multi-view 3D object detectors such as PETRv2 and BEVDepth by a large margin. Project page: https://fcjian.github.io/aedet.

Key facts. Cited by 19 papers in the map (data through 7 Oct 2026). Builds on 30 of its 32 references that are in the map. First posted on arXiv 22 Nov 2022.

Builds on

30 of 32 references.

References · 30

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  2. 2020End-to-End Object Detection with Transformerscited by 7,384
  3. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  4. 2022A ConvNet for the 2020scited by 3,545
  5. 2019FCOS: Fully Convolutional One-Stage Object Detectioncited by 1,573
  6. 2017Deformable Convolutional Networkscited by 1,481
  7. 2015Spatial Transformer Networkscited by 1,423
  8. 2022BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformerscited by 1,213
  9. 2020Center-based 3D Object Detection and Trackingcited by 1,143
  10. 2020Lift, Splat, Shoot: Encoding Images From Arbitrary Camera Rigs by Implicitly Unprojecting to 3Dcited by 1,040
  11. 2018Deep Ordinal Regression Network for Monocular Depth Estimationcited by 721
  12. 2021BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-Viewcited by 711
18 more
  1. 2021DETR3D: 3D Object Detection from Multi-view Images via 3D-to-2D Queriescited by 655
  2. 2022BEVDepth: Acquisition of Reliable Depth for Multi-view 3D Object Detectioncited by 568
  3. 2022PETR: Position Embedding Transformation for Multi-View 3D Object Detectioncited by 550
  4. 2018Pseudo-LiDAR from Visual Depth Estimation: Bridging the Gap in 3D Object Detection for Autonomous Drivingcited by 455
  5. 2021FCOS3D: Fully Convolutional One-Stage Monocular 3D Object Detectioncited by 444
  6. 2016Unsupervised CNN for Single View Depth Estimation: Geometry to the Rescuecited by 368
  7. 2022PETRv2: A Unified Framework for 3D Perception from Multi-Camera Imagescited by 351
  8. 2019Class-balanced Grouping and Sampling for Point Cloud 3D Object Detectioncited by 350
  9. 2021Categorical Depth Distribution Network for Monocular 3D Object Detectioncited by 326
  10. 2021TOOD: Task-aligned One-stage Object Detectioncited by 218
  11. 2022Unifying Voxel-based Representation with Transformer for 3D Object Detectioncited by 202
  12. 2019Learning Depth-Guided Convolutions for Monocular 3D Object Detectioncited by 169
  13. 2022PolarFormer: Multi-camera 3D Object Detection with Polar Transformercited by 147
  14. 2017Semi-Supervised Deep Learning for Monocular Depth Map Predictioncited by 109
  15. 2022Polar Parametrization for Vision-based Surround-View 3D Detectioncited by 53
  16. 2021Exploring Classification Equilibrium in Long-Tailed Object Detectioncited by 51
  17. 2021Multiview Detection with Shadow Transformer (and View-Coherent Data Augmentation)cited by 45
  18. 2020Monocular 3D Object Detection with Decoupled Structured Polygon Estimation and Height-Guided Depth Estimationcited by 43

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 4; 2024: 11; 2025: 3; 2026: 1.

19 papers.

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  1. 2023Exploring Object-Centric Temporal Modeling for Efficient Multi-View 3D Object Detectioncited by 313
  2. 2023Exploring Recurrent Long-term Temporal Fusion for Multi-view 3D Perceptioncited by 65
  3. 2024InstaGen: Enhancing Object Detection by Training on Synthetic Datasetcited by 26
  4. 2024HENet: Hybrid Encoding for End-to-end Multi-task 3D Perception from Multi-view Camerascited by 16
  5. 2023Leveraging Vision-Centric Multi-Modal Expertise for 3D Object Detectioncited by 13
  6. 20243DGS-DET: Empower 3D Gaussian Splatting with Boundary Guidance and Box-Focused Sampling for Indoor 3D Object Detectioncited by 13
  7. 2024SeaBird: Segmentation in Bird's View with Dice Loss Improves Monocular 3D Detection of Large Objectscited by 12
  8. 2023SOGDet: Semantic-Occupancy Guided Multi-view 3D Object Detectioncited by 9
  9. 2024LabelDistill: Label-guided Cross-modal Knowledge Distillation for Camera-based 3D Object Detectioncited by 9
  10. 2024Building a Strong Pre-Training Baseline for Universal 3D Large-Scale Perceptioncited by 8
  11. 2025HENet++: Hybrid Encoding and Multi-task Learning for 3D Perception and End-to-end Autonomous Drivingcited by 6
  12. 2026VGGT-Det: Mining VGGT Internal Priors for Sensor-Geometry-Free Multi-View Indoor 3D Object Detectioncited by 6
7 more
  1. 2024Learning High-resolution Vector Representation from Multi-Camera Images for 3D Object Detectioncited by 4
  2. 2024PolarBEVDet: Exploring Polar Representation for Multi-View 3D Object Detection in Bird's-Eye-Viewcited by 3
  3. 2024S2-Track: A Simple yet Strong Approach for End-to-End 3D Multi-Object Trackingcited by 2
  4. 2024LSSInst: Improving Geometric Modeling in LSS-Based BEV Perception with Instance Representationcited by 2
  5. 2024Learning an Adaptive and View-Invariant Vision Transformer for Real-Time UAV Trackingcited by 1
  6. 2025OnlineBEV: Recurrent Temporal Fusion in Bird's Eye View Representations for Multi-Camera 3D Perceptioncited by 0
  7. 2025Collaborative Perceiver: Elevating Vision-based 3D Object Detection via Local Density-Aware Spatial Occupancycited by 0