mlsanityData to 14 Oct 2026

GraphBEV: Towards Robust BEV Feature Alignment for Multi-Modal 3D Object Detection

arXiv 2403.11848 ↗First posted 18 Mar 2024cs.CVcited by 33

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Abstract (arXiv)

Integrating LiDAR and camera information into Bird's-Eye-View (BEV) representation has emerged as a crucial aspect of 3D object detection in autonomous driving. However, existing methods are susceptible to the inaccurate calibration relationship between LiDAR and the camera sensor. Such inaccuracies result in errors in depth estimation for the camera branch, ultimately causing misalignment between LiDAR and camera BEV features. In this work, we propose a robust fusion framework called Graph BEV. Addressing errors caused by inaccurate point cloud projection, we introduce a Local Align module that employs neighbor-aware depth features via Graph matching. Additionally, we propose a Global Align module to rectify the misalignment between LiDAR and camera BEV features. Our Graph BEV framework achieves state-of-the-art performance, with an mAP of 70.1%, surpassing BEV Fusion by 1.6% on the nuscenes validation set. Importantly, our Graph BEV outperforms BEV Fusion by 8.3% under conditions with misalignment noise.

Key facts. Cited by 33 papers in the map (data through 14 Oct 2026). Builds on 63 of its 82 references that are in the map. First posted on arXiv 18 Mar 2024.

Builds on

63 of 82 references.

References · 63

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 10; 2025: 10; 2026: 13.

33 papers.

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  1. 2024V2X-Radar: A Multi-modal Dataset with 4D Radar for Cooperative Perceptioncited by 22
  2. 2025DIVER: Reinforced Diffusion Breaks Imitation Bottlenecks in End-to-End Autonomous Drivingcited by 17
  3. 2025SafeMap: Robust HD Map Construction from Incomplete Observationscited by 14
  4. 2024ContrastAlign: Toward Robust BEV Feature Alignment via Contrastive Learning for Multi-Modal 3D Object Detectioncited by 13
  5. 2024FlatFusion: Delving into Details of Sparse Transformer-based Camera-LiDAR Fusion for Autonomous Drivingcited by 9
  6. 2024RoadBEV: Road Surface Reconstruction in Bird's Eye Viewcited by 8
  7. 2025Collaborative Perception Datasets for Autonomous Driving: A Reviewcited by 8
  8. 2024SparseDet: A Simple and Effective Framework for Fully Sparse LiDAR-based 3D Object Detectioncited by 7
  9. 2024RCTrans: Radar-Camera Transformer via Radar Densifier and Sequential Decoder for 3D Object Detectioncited by 7
  10. 2024TiGDistill-BEV: Multi-view BEV 3D Object Detection via Target Inner-Geometry Learning Distillationcited by 4
  11. 2024Timealign: A multi-modal object detection method for time misalignment fusing in autonomous drivingcited by 3
  12. 2025Reflectance Prediction-based Knowledge Distillation for Robust 3D Object Detection in Compressed Point Cloudscited by 3
21 more
  1. 2024Reflective Teacher: Semi-Supervised Multimodal 3D Object Detection in Bird's-Eye-View via Uncertainty Measurecited by 2
  2. 2025DGFusion: Dual-guided Fusion for Robust Multi-Modal 3D Object Detectioncited by 2
  3. 2026The Semantic Lifecycle in Embodied AI: Acquisition, Representation and Storage via Foundation Modelscited by 2
  4. 2026Leveraging Previous-Traversal Point Cloud Map Priors for Camera-Based 3D Object Detection and Trackingcited by 2
  5. 2024A re-calibration method for object detection with multi-modal alignment bias in autonomous drivingcited by 1
  6. 2025MLF-4DRCNet: Multi-Level Fusion with 4D Radar and Camera for 3D Object Detection in Autonomous Drivingcited by 1
  7. 2026RESBev: Making BEV Perception More Robustcited by 1
  8. 2025FGU3R: Fine-Grained Fusion via Unified 3D Representation for Multimodal 3D Object Detectioncited by 0
  9. 2025Dual-Domain Homogeneous Fusion with Cross-Modal Mamba and Progressive Decoder for 3D Object Detectioncited by 0
  10. 2025Graph Query Networks for Object Detection with Automotive Radarcited by 0
  11. 2025SCAFusion: A Multimodal 3D Detection Framework for Small Object Detection in Lunar Surface Explorationcited by 0
  12. 2026Multi-Modal Decouple and Recouple Network for Robust 3D Object Detectioncited by 0
  13. 2026Information Coordination as a Bridge: A Neuro-Symbolic Architecture for Reliable Autonomous Driving Scene Understandingcited by 0
  14. 2026Co-Fusion4D: Spatio-temporal Collaborative Fusion for Robust 3D Object Detectioncited by 0
  15. 2026GraphBEV++: Multi-Modal Feature Alignment for Autonomous Drivingcited by 0
  16. 2026Geometry-Preserving in 3D Gaussian Splatting for LiDAR-Camera Extrinsic Calibrationcited by 0
  17. 2026RAF: Reliability-Aware Fusion of Camera, LiDAR, and 4D RADAR for Robust 3D Object Detection in Adverse Weathercited by 0
  18. 2026DeGuNet: Depth-Guided Ultra-Compact Backbones for Efficient LiDAR-Camera 3D Detectioncited by 0
  19. 2026Point Ladder Tuning: Parameter-Efficient Hierarchical Adaptation for 3D Point Cloud Understandingcited by 0
  20. 2026MATS: A novel multi-modality multi-task learning framework for 3D perception in autonomous drivingcited by 0
  21. 2026Towards robust multimodal 3D object detection via visual foundation modelscited by 0