mlsanityData to 14 Oct 2026

Surround-View Vision-based 3D Detection for Autonomous Driving: A Survey

arXiv 2302.06650 ↗First posted 13 Feb 2023cs.CVcited by 14

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Abstract (arXiv)

Vision-based 3D Detection task is fundamental task for the perception of an autonomous driving system, which has peaked interest amongst many researchers and autonomous driving engineers. However achieving a rather good 3D BEV (Bird's Eye View) performance is not an easy task using 2D sensor input-data with cameras. In this paper we provide a literature survey for the existing Vision Based 3D detection methods, focused on autonomous driving. We have made detailed analysis of over 60 papers leveraging Vision BEV detections approaches and highlighted different sub-groups for detailed understanding of common trends. Moreover, we have highlighted how the literature and industry trend have moved towards surround-view image based methods and note down thoughts on what special cases this method addresses. In conclusion, we provoke thoughts of 3D Vision techniques for future research based on shortcomings of the current techniques including the direction of collaborative perception.

Key facts. Cited by 14 papers in the map (data through 14 Oct 2026). Builds on 39 of its 49 references that are in the map. First posted on arXiv 13 Feb 2023.

Builds on

39 of 49 references.

References · 39

  1. 2017Attention Is All You Needcited by 60,361
  2. 2020End-to-End Object Detection with Transformerscited by 7,414
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27 more
  1. 2022BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformerscited by 1,218
  2. 2020Center-based 3D Object Detection and Trackingcited by 1,144
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  4. 2019Argoverse: 3D Tracking and Forecasting with Rich Mapscited by 732
  5. 2021BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-Viewcited by 713
  6. 2021DETR3D: 3D Object Detection from Multi-view Images via 3D-to-2D Queriescited by 658
  7. 2022BEVDepth: Acquisition of Reliable Depth for Multi-view 3D Object Detectioncited by 572
  8. 2018Pseudo-LiDAR from Visual Depth Estimation: Bridging the Gap in 3D Object Detection for Autonomous Drivingcited by 457
  9. 2021FCOS3D: Fully Convolutional One-Stage Monocular 3D Object Detectioncited by 447
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  11. 2022PETRv2: A Unified Framework for 3D Perception from Multi-Camera Imagescited by 352
  12. 2022BEVDet4D: Exploit Temporal Cues in Multi-camera 3D Object Detectioncited by 341
  13. 2021OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communicationcited by 304
  14. 2022BEVFormer v2: Adapting Modern Image Backbones to Bird's-Eye-View Recognition via Perspective Supervisioncited by 302
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  27. 2022Graph-DETR3D: Rethinking Overlapping Regions for Multi-View 3D Object Detectioncited by 35

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 9; 2024: 2; 2025: 1; 2026: 2.

14 papers.

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  1. 2023DriveMLM: Aligning Multi-Modal Large Language Models with Behavioral Planning States for Autonomous Drivingcited by 233
  2. 2023MotionTrack: End-to-End Transformer-based Multi-Object Tracing with LiDAR-Camera Fusioncited by 19
  3. 2023Transformer-Based Sensor Fusion for Autonomous Driving: A Surveycited by 14
  4. 2023VT-Former: An Exploratory Study on Vehicle Trajectory Prediction for Highway Surveillance through Graph Isomorphism and Transformercited by 10
  5. 2023Trajectory-Prediction with Vision: A Surveycited by 4
  6. 20233M3D: Multi-view, Multi-path, Multi-representation for 3D Object Detectioncited by 3
  7. 2024SeSame: Simple, Easy 3D Object Detection with Point-Wise Semanticscited by 3
  8. 2024Hierarchical and Decoupled BEV Perception Learning Framework for Autonomous Drivingcited by 2
  9. 2023Training Strategies for Vision Transformers for Object Detectioncited by 1
  10. 2025Topology of Out-of-Distribution Examples in Deep Neural Networkscited by 1
  11. 2023Lidar based 3D Tracking and State Estimation of Dynamic Objectscited by 0
  12. 2023Semantic and Articulated Pedestrian Sensing Onboard a Moving Vehiclecited by 0
2 more
  1. 2026At FullTilt: Real-Time Open-Set 3D Macromolecule Detection Directly from Tilted 2D Projectionscited by 0
  2. 2026Calousel: Extrinsic Calibration of Non-overlapping Multi-camera Systems from Pure Rotationcited by 0