# QD-BEV : Quantization-aware View-guided Distillation for Multi-view 3D Object Detection

arXiv: https://arxiv.org/abs/2308.10515 · HTML: https://mlsanity.com/paper/2308.10515/

## Key facts

- Cited by 8 papers in the map (data through 14 Oct 2026).
- Builds on 43 of its 51 references that are in the map.
- First posted on arXiv 21 Aug 2023.

## Builds on (most cited first, 30 of 43)

- [Distilling the Knowledge in a Neural Network](https://mlsanity.com/paper/1503.02531/) (2015)
- [End-to-End Object Detection with Transformers](https://mlsanity.com/paper/2005.12872/) (2020)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [Deformable DETR: Deformable Transformers for End-to-End Object Detection](https://mlsanity.com/paper/2010.04159/) (2020)
- [Estimating or Propagating Gradients Through Stochastic Neurons for Conditional Computation](https://mlsanity.com/paper/1308.3432/) (2013)
- [PointPillars: Fast Encoders for Object Detection from Point Clouds](https://mlsanity.com/paper/1812.05784/) (2018)
- [Quantization and Training of Neural Networks for Efficient Integer-Arithmetic-Only Inference](https://mlsanity.com/paper/1712.05877/) (2017)
- [VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detection](https://mlsanity.com/paper/1711.06396/) (2017)
- [BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformers](https://mlsanity.com/paper/2203.17270/) (2022)
- [Lift, Splat, Shoot: Encoding Images From Arbitrary Camera Rigs by Implicitly Unprojecting to 3D](https://mlsanity.com/paper/2008.05711/) (2020)
- [Relational Knowledge Distillation](https://mlsanity.com/paper/1904.05068/) (2019)
- [A Survey of Quantization Methods for Efficient Neural Network Inference](https://mlsanity.com/paper/2103.13630/) (2021)
- [BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-View](https://mlsanity.com/paper/2112.11790/) (2021)
- [DETR3D: 3D Object Detection from Multi-view Images via 3D-to-2D Queries](https://mlsanity.com/paper/2110.06922/) (2021)
- [BEVDepth: Acquisition of Reliable Depth for Multi-view 3D Object Detection](https://mlsanity.com/paper/2206.10092/) (2022)
- [PETR: Position Embedding Transformation for Multi-View 3D Object Detection](https://mlsanity.com/paper/2203.05625/) (2022)
- [Be Your Own Teacher: Improve the Performance of Convolutional Neural Networks via Self Distillation](https://mlsanity.com/paper/1905.08094/) (2019)
- [PACT: Parameterized Clipping Activation for Quantized Neural Networks](https://mlsanity.com/paper/1805.06085/) (2018)
- [FCOS3D: Fully Convolutional One-Stage Monocular 3D Object Detection](https://mlsanity.com/paper/2104.10956/) (2021)
- [Dreaming to Distill: Data-free Knowledge Transfer via DeepInversion](https://mlsanity.com/paper/1912.08795/) (2019)
- [HAWQ: Hessian AWare Quantization of Neural Networks with Mixed-Precision](https://mlsanity.com/paper/1905.03696/) (2019)
- [PETRv2: A Unified Framework for 3D Perception from Multi-Camera Images](https://mlsanity.com/paper/2206.01256/) (2022)
- [BEVDet4D: Exploit Temporal Cues in Multi-camera 3D Object Detection](https://mlsanity.com/paper/2203.17054/) (2022)
- [Data-Free Quantization Through Weight Equalization and Bias Correction](https://mlsanity.com/paper/1906.04721/) (2019)
- [Variational Information Distillation for Knowledge Transfer](https://mlsanity.com/paper/1904.05835/) (2019)
- [SqueezeLLM: Dense-and-Sparse Quantization](https://mlsanity.com/paper/2306.07629/) (2023)
- [Model compression via distillation and quantization](https://mlsanity.com/paper/1802.05668/) (2018)
- [Post-Training Quantization for Vision Transformer](https://mlsanity.com/paper/2106.14156/) (2021)
- [LQ-Nets: Learned Quantization for Highly Accurate and Compact Deep Neural Networks](https://mlsanity.com/paper/1807.10029/) (2018)
- [ZeroQ: A Novel Zero Shot Quantization Framework](https://mlsanity.com/paper/2001.00281/) (2020)

## Built on by (most cited first, 8 of 8)

- [LiDAR-PTQ: Post-Training Quantization for Point Cloud 3D Object Detection](https://mlsanity.com/paper/2401.15865/) (2024)
- [Information Entropy Guided Height-aware Histogram for Quantization-friendly Pillar Feature Encoder](https://mlsanity.com/paper/2405.18734/) (2024)
- [LabelDistill: Label-guided Cross-modal Knowledge Distillation for Camera-based 3D Object Detection](https://mlsanity.com/paper/2407.10164/) (2024)
- [Enhancing Physical Consistency in Lightweight World Models](https://mlsanity.com/paper/2509.12437/) (2025)
- [Semantic-Supervised Spatial-Temporal Fusion for LiDAR-based 3D Object Detection](https://mlsanity.com/paper/2503.10579/) (2025)
- [TinyBEV: Cross Modal Knowledge Distillation for Efficient Multi Task Bird's Eye View Perception and Planning](https://mlsanity.com/paper/2509.18372/) (2025)
- [Energy-Efficient Autonomous Driving with Adaptive Perception and Robust Decision](https://mlsanity.com/paper/2510.25205/) (2025)
- [QATMA: Quantization-Aware Training with Multimodal Alignment for Open-Vocabulary Object Detection](https://mlsanity.com/paper/2603.05964/) (2026)

## Abstract (arXiv)

Multi-view 3D detection based on BEV (bird-eye-view) has recently achieved significant improvements. However, the huge memory consumption of state-of-the-art models makes it hard to deploy them on vehicles, and the non-trivial latency will affect the real-time perception of streaming applications. Despite the wide application of quantization to lighten models, we show in our paper that directly applying quantization in BEV tasks will 1) make the training unstable, and 2) lead to intolerable performance degradation. To solve these issues, our method QD-BEV enables a novel view-guided distillation (VGD) objective, which can stabilize the quantization-aware training (QAT) while enhancing the model performance by leveraging both image features and BEV features. Our experiments show that QD-BEV achieves similar or even better accuracy than previous methods with significant efficiency gains. On the nuScenes datasets, the 4-bit weight and 6-bit activation quantized QD-BEV-Tiny model achieves 37.2% NDS with only 15.8 MB model size, outperforming BevFormer-Tiny by 1.8% with an 8x model compression. On the Small and Base variants, QD-BEV models also perform superbly and achieve 47.9% NDS (28.2 MB) and 50.9% NDS (32.9 MB), respectively.