mlsanityData to 14 Oct 2026

BroadBEV: Collaborative LiDAR-camera Fusion for Broad-sighted Bird's Eye View Map Construction

arXiv 2309.11119 ↗First posted 20 Sep 2023cs.CVcited by 4

Not on the map. Why?

Abstract (arXiv)

A recent sensor fusion in a Bird's Eye View (BEV) space has shown its utility in various tasks such as 3D detection, map segmentation, etc. However, the approach struggles with inaccurate camera BEV estimation, and a perception of distant areas due to the sparsity of LiDAR points. In this paper, we propose a broad BEV fusion (BroadBEV) that addresses the problems with a spatial synchronization approach of cross-modality. Our strategy aims to enhance camera BEV estimation for a broad-sighted perception while simultaneously improving the completion of LiDAR's sparsity in the entire BEV space. Toward that end, we devise Point-scattering that scatters LiDAR BEV distribution to camera depth distribution. The method boosts the learning of depth estimation of the camera branch and induces accurate location of dense camera features in BEV space. For an effective BEV fusion between the spatially synchronized features, we suggest ColFusion that applies self-attention weights of LiDAR and camera BEV features to each other. Our extensive experiments demonstrate that BroadBEV provides a broad-sighted BEV perception with remarkable performance gains.

Key facts. Cited by 4 papers in the map (data through 14 Oct 2026). Builds on 49 of its 61 references that are in the map. First posted on arXiv 20 Sep 2023.

Builds on

49 of 61 references.

References · 49

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37 more
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Built on by

Cited by year (2026 to 14 Oct)

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

4 papers.

  1. 2025BridgeTA: Bridging the Representation Gap in Knowledge Distillation via Teacher Assistant for Bird's Eye View Map Segmentationcited by 2
  2. 2024Learning Shared RGB-D Fields: Unified Self-supervised Pre-training for Label-efficient LiDAR-Camera 3D Perceptioncited by 1
  3. 2024Addressing Diverging Training Costs using BEVRestore for High-resolution Bird's Eye View Map Constructioncited by 0
  4. 2026LIE: LiDAR-only HD Map Construction with Intensity Enhancement via Online Knowledge Distillationcited by 0