mlsanityData to 7 Oct 2026

Exploring Object-Centric Temporal Modeling for Efficient Multi-View 3D Object Detection

arXiv 2303.11926 ↗First posted 21 Mar 2023cs.CVcited by 313

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 propose a long-sequence modeling framework, named StreamPETR, for multi-view 3D object detection. Built upon the sparse query design in the PETR series, we systematically develop an object-centric temporal mechanism. The model is performed in an online manner and the long-term historical information is propagated through object queries frame by frame. Besides, we introduce a motion-aware layer normalization to model the movement of the objects. StreamPETR achieves significant performance improvements only with negligible computation cost, compared to the single-frame baseline. On the standard nuScenes benchmark, it is the first online multi-view method that achieves comparable performance (67.6% NDS & 65.3% AMOTA) with lidar-based methods. The lightweight version realizes 45.0% mAP and 31.7 FPS, outperforming the state-of-the-art method (SOLOFusion) by 2.3% mAP and 1.8x faster FPS. Code has been available at https://github.com/exiawsh/StreamPETR.git.

Key facts. Cited by 313 papers in the map (data through 7 Oct 2026). Builds on 56 of its 66 references that are in the map. First posted on arXiv 21 Mar 2023.

Builds on

56 of 66 references.

References · 56

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  11. 2020Deformable DETR: Deformable Transformers for End-to-End Object Detectioncited by 3,410
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38 more
  1. 2022BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformerscited by 1,213
  2. 2020Center-based 3D Object Detection and Trackingcited by 1,143
  3. 2021BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-Viewcited by 711
  4. 2021DETR3D: 3D Object Detection from Multi-view Images via 3D-to-2D Queriescited by 655
  5. 2022BEVDepth: Acquisition of Reliable Depth for Multi-view 3D Object Detectioncited by 568
  6. 2022PETR: Position Embedding Transformation for Multi-View 3D Object Detectioncited by 550
  7. 2021TrackFormer: Multi-Object Tracking with Transformerscited by 515
  8. 2022DN-DETR: Accelerate DETR Training by Introducing Query DeNoisingcited by 486
  9. 2021FCOS3D: Fully Convolutional One-Stage Monocular 3D Object Detectioncited by 444
  10. 2021MOTR: End-to-End Multiple-Object Tracking with Transformercited by 379
  11. 2023EVA-02: A Visual Representation for Neon Genesiscited by 377
  12. 2022PETRv2: A Unified Framework for 3D Perception from Multi-Camera Imagescited by 351
  13. 2019Class-balanced Grouping and Sampling for Point Cloud 3D Object Detectioncited by 350
  14. 2016A Learned Representation For Artistic Stylecited by 340
  15. 2022BEVDet4D: Exploit Temporal Cues in Multi-camera 3D Object Detectioncited by 340
  16. 2022BEVFormer v2: Adapting Modern Image Backbones to Bird's-Eye-View Recognition via Perspective Supervisioncited by 302
  17. 2021Is Pseudo-Lidar needed for Monocular 3D Object detection?cited by 248
  18. 2022Unifying Voxel-based Representation with Transformer for 3D Object Detectioncited by 202
  19. 2022Time Will Tell: New Outlooks and A Baseline for Temporal Multi-View 3D Object Detectioncited by 177
  20. 2019An Energy and GPU-Computation Efficient Backbone Network for Real-Time Object Detectioncited by 163
  21. 2022Sparse4D: Multi-view 3D Object Detection with Sparse Spatial-Temporal Fusioncited by 161
  22. 2022M2BEV: Multi-Camera Joint 3D Detection and Segmentation with Unified Birds-Eye View Representationcited by 155
  23. 2022MOTRv2: Bootstrapping End-to-End Multi-Object Tracking by Pretrained Object Detectorscited by 148
  24. 2022PolarFormer: Multi-camera 3D Object Detection with Polar Transformercited by 147
  25. 2022MeMOT: Multi-Object Tracking with Memorycited by 113
  26. 2021SimpleTrack: Understanding and Rethinking 3D Multi-object Trackingcited by 102
  27. 2023Referring Multi-Object Trackingcited by 91
  28. 2022MUTR3D: A Multi-camera Tracking Framework via 3D-to-2D Queriescited by 90
  29. 2022BEVStereo: Enhancing Depth Estimation in Multi-view 3D Object Detection with Dynamic Temporal Stereocited by 89
  30. 2021Monocular Quasi-Dense 3D Object Trackingcited by 80
  31. 2022BEVPoolv2: A Cutting-edge Implementation of BEVDet Toward Deploymentcited by 79
  32. 20213D-MAN: 3D Multi-frame Attention Network for Object Detectioncited by 73
  33. 2023Standing Between Past and Future: Spatio-Temporal Modeling for Multi-Camera 3D Multi-Object Trackingcited by 54
  34. 2022Polar Parametrization for Vision-based Surround-View 3D Detectioncited by 53
  35. 2022TiG-BEV: Multi-view BEV 3D Object Detection via Target Inner-Geometry Learningcited by 37
  36. 2022Reversible Column Networkscited by 32
  37. 2022CC-3DT: Panoramic 3D Object Tracking via Cross-Camera Fusioncited by 31
  38. 2022MV-FCOS3D++: Multi-View Camera-Only 4D Object Detection with Pretrained Monocular Backbonescited by 29

50 most cited of 56 All 56 (JSON)

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Citing papers per year: 2023: 31; 2024: 102; 2025: 101; 2026: 79.

313 papers.

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  1. 2023Driving into the Future: Multiview Visual Forecasting and Planning with World Model for Autonomous Drivingcited by 309
  2. 2024VADv2: End-to-End Vectorized Autonomous Driving via Probabilistic Planningcited by 287
  3. 2023Is Ego Status All You Need for Open-Loop End-to-End Autonomous Driving?cited by 242
  4. 2024SparseDrive: End-to-End Autonomous Driving via Sparse Scene Representationcited by 239
  5. 2024DriveDreamer-2: LLM-Enhanced World Models for Diverse Driving Video Generationcited by 186
  6. 2025MemoryVLA: Perceptual-Cognitive Memory in Vision-Language-Action Models for Robotic Manipulationcited by 183
  7. 2025GAIA-2: A Controllable Multi-View Generative World Model for Autonomous Drivingcited by 178
  8. 2025ORION: A Holistic End-to-End Autonomous Driving Framework by Vision-Language Instructed Action Generationcited by 177
  9. 2023Panacea: Panoramic and Controllable Video Generation for Autonomous Drivingcited by 165
  10. 2023SparseBEV: High-Performance Sparse 3D Object Detection from Multi-Camera Videoscited by 149
  11. 2023StreamMapNet: Streaming Mapping Network for Vectorized Online HD Map Constructioncited by 143
  12. 2025OmniDrive: A Holistic Vision-Language Dataset for Autonomous Driving with Counterfactual Reasoningcited by 142
38 more
  1. 2025DriveTransformer: Unified Transformer for Scalable End-to-End Autonomous Drivingcited by 125
  2. 2023PanoOcc: Unified Occupancy Representation for Camera-based 3D Panoptic Segmentationcited by 114
  3. 2023ADriver-I: A General World Model for Autonomous Drivingcited by 102
  4. 2023FB-BEV: BEV Representation from Forward-Backward View Transformationscited by 98
  5. 2025Cosmos-Transfer1: Conditional World Generation with Adaptive Multimodal Controlcited by 95
  6. 2025Hydra-MDP++: Advancing End-to-End Driving via Expert-Guided Hydra-Distillationcited by 93
  7. 2023Sparse4D v2: Recurrent Temporal Fusion with Sparse Modelcited by 92
  8. 2024RCBEVDet: Radar-camera Fusion in Bird's Eye View for 3D Object Detectioncited by 82
  9. 2023GTA: A Geometry-Aware Attention Mechanism for Multi-View Transformerscited by 75
  10. 2023Far3D: Expanding the Horizon for Surround-view 3D Object Detectioncited by 70
  11. 2023Sparse4D v3: Advancing End-to-End 3D Detection and Trackingcited by 69
  12. 2024GaussianWorld: Gaussian World Model for Streaming 3D Occupancy Predictioncited by 66
  13. 20253D and 4D World Modeling: A Surveycited by 64
  14. 2025Generalized Trajectory Scoring for End-to-end Multimodal Planningcited by 63
  15. 2023OnlineRefer: A Simple Online Baseline for Referring Video Object Segmentationcited by 62
  16. 2023Fully Sparse 3D Occupancy Predictioncited by 61
  17. 2024OPUS: Occupancy Prediction Using a Sparse Setcited by 56
  18. 2025HERMES: A Unified Self-Driving World Model for Simultaneous 3D Scene Understanding and Generationcited by 56
  19. 2024Unleashing Generalization of End-to-End Autonomous Driving with Controllable Long Video Generationcited by 54
  20. 2024FastOcc: Accelerating 3D Occupancy Prediction by Fusing the 2D Bird's-Eye View and Perspective Viewcited by 51
  21. 2023OctreeOcc: Efficient and Multi-Granularity Occupancy Prediction Using Octree Queriescited by 48
  22. 2024SparseAD: Sparse Query-Centric Paradigm for Efficient End-to-End Autonomous Drivingcited by 46
  23. 2024Navigation-Guided Sparse Scene Representation for End-to-End Autonomous Drivingcited by 46
  24. 2024Stream Query Denoising for Vectorized HD Map Constructioncited by 43
  25. 2024Ray Denoising: Depth-aware Hard Negative Sampling for Multi-view 3D Object Detectioncited by 36
  26. 2024ViewFormer: Exploring Spatiotemporal Modeling for Multi-View 3D Occupancy Perception via View-Guided Transformerscited by 36
  27. 2023BEVNeXt: Reviving Dense BEV Frameworks for 3D Object Detectioncited by 35
  28. 2024Unleashing HyDRa: Hybrid Fusion, Depth Consistency and Radar for Unified 3D Perceptioncited by 35
  29. 2025HiP-AD: Hierarchical and Multi-Granularity Planning with Deformable Attention for Autonomous Driving in a Single Decodercited by 35
  30. 2023PPAD: Iterative Interactions of Prediction and Planning for End-to-end Autonomous Drivingcited by 33
  31. 2024ADA-Track++: End-to-End Multi-Camera 3D Multi-Object Tracking with Alternating Detection and Associationcited by 33
  32. 2024SubjectDrive: Scaling Generative Data in Autonomous Driving via Subject Controlcited by 32
  33. 2024DiVE: DiT-based Video Generation with Enhanced Controlcited by 31
  34. 2023BEVHeight++: Toward Robust Visual Centric 3D Object Detectioncited by 29
  35. 2024Monocular Occupancy Prediction for Scalable Indoor Scenescited by 29
  36. 2024Enhancing Vectorized Map Perception with Historical Rasterized Mapscited by 29
  37. 2024OmniDrive: A Holistic Vision-Language Dataset for Autonomous Driving with Counterfactual Reasoningcited by 26
  38. 2026LaST-VLA: Thinking in Latent Spatio-Temporal Space for Vision-Language-Action in Autonomous Drivingcited by 26

50 most cited of 313 All 313 (JSON)