# Hierarchical and Decoupled BEV Perception Learning Framework for Autonomous Driving

arXiv: https://arxiv.org/abs/2407.12491 · HTML: https://mlsanity.com/paper/2407.12491/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 35 of its 53 references that are in the map.
- First posted on arXiv 17 Jul 2024.

## Builds on (most cited first, 30 of 35)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [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)
- [BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformers](https://mlsanity.com/paper/2203.17270/) (2022)
- [Planning-oriented Autonomous Driving](https://mlsanity.com/paper/2212.10156/) (2022)
- [Lift, Splat, Shoot: Encoding Images From Arbitrary Camera Rigs by Implicitly Unprojecting to 3D](https://mlsanity.com/paper/2008.05711/) (2020)
- [An Overview of Multi-Task Learning in Deep Neural Networks](https://mlsanity.com/paper/1706.05098/) (2017)
- [Multi-View 3D Object Detection Network for Autonomous Driving](https://mlsanity.com/paper/1611.07759/) (2016)
- [Frustum PointNets for 3D Object Detection from RGB-D Data](https://mlsanity.com/paper/1711.08488/) (2017)
- [End-to-end Autonomous Driving: Challenges and Frontiers](https://mlsanity.com/paper/2306.16927/) (2023)
- [FCOS3D: Fully Convolutional One-Stage Monocular 3D Object Detection](https://mlsanity.com/paper/2104.10956/) (2021)
- [Combating noisy labels by agreement: A joint training method with co-regularization](https://mlsanity.com/paper/2003.02752/) (2020)
- [Cross-view Transformers for real-time Map-view Semantic Segmentation](https://mlsanity.com/paper/2205.02833/) (2022)
- [Is Pseudo-Lidar needed for Monocular 3D Object detection?](https://mlsanity.com/paper/2108.06417/) (2021)
- [FIERY: Future Instance Prediction in Bird's-Eye View from Surround Monocular Cameras](https://mlsanity.com/paper/2104.10490/) (2021)
- [CenterMask : Real-Time Anchor-Free Instance Segmentation](https://mlsanity.com/paper/1911.06667/) (2019)
- [BEVerse: Unified Perception and Prediction in Birds-Eye-View for Vision-Centric Autonomous Driving](https://mlsanity.com/paper/2205.09743/) (2022)
- [An Energy and GPU-Computation Efficient Backbone Network for Real-Time Object Detection](https://mlsanity.com/paper/1904.09730/) (2019)
- [PersFormer: 3D Lane Detection via Perspective Transformer and the OpenLane Benchmark](https://mlsanity.com/paper/2203.11089/) (2022)
- [Modality Competition: What Makes Joint Training of Multi-modal Network Fail in Deep Learning? (Provably)](https://mlsanity.com/paper/2203.12221/) (2022)
- [Delving into the Devils of Bird's-eye-view Perception: A Review, Evaluation and Recipe](https://mlsanity.com/paper/2209.05324/) (2022)
- [3D Object Detection for Autonomous Driving: A Survey](https://mlsanity.com/paper/2106.10823/) (2021)
- [Recent Advancements in End-to-End Autonomous Driving using Deep Learning: A Survey](https://mlsanity.com/paper/2307.04370/) (2023)
- [Sparse4D v2: Recurrent Temporal Fusion with Sparse Model](https://mlsanity.com/paper/2305.14018/) (2023)
- [MultiNet: Real-time Joint Semantic Reasoning for Autonomous Driving](https://mlsanity.com/paper/1612.07695/) (2016)
- [Collaborative Perception in Autonomous Driving: Methods, Datasets and Challenges](https://mlsanity.com/paper/2301.06262/) (2023)
- [YOLOP: You Only Look Once for Panoptic Driving Perception](https://mlsanity.com/paper/2108.11250/) (2021)
- [Efficient and Robust 2D-to-BEV Representation Learning via Geometry-guided Kernel Transformer](https://mlsanity.com/paper/2206.04584/) (2022)
- [Fast-BEV: A Fast and Strong Bird's-Eye View Perception Baseline](https://mlsanity.com/paper/2301.12511/) (2023)
- [Joint Training of Deep Ensembles Fails Due to Learner Collusion](https://mlsanity.com/paper/2301.11323/) (2023)

## Built on by (most cited first, 2 of 2)

- [Unveiling the Black Box: Independent Functional Module Evaluation for Bird's-Eye-View Perception Model](https://mlsanity.com/paper/2409.11969/) (2024)
- [Decoupled Functional Evaluation of Autonomous Driving Models via Feature Map Quality Scoring](https://mlsanity.com/paper/2508.07552/) (2025)

## Abstract (arXiv)

Perception is essential for autonomous driving system. Recent approaches based on Bird's-eye-view (BEV) and deep learning have made significant progress. However, there exists challenging issues including lengthy development cycles, poor reusability, and complex sensor setups in perception algorithm development process. To tackle the above challenges, this paper proposes a novel hierarchical BEV perception paradigm, aiming to provide a library of fundamental perception modules and user-friendly graphical interface, enabling swift construction of customized models. We conduct the Pretrain-Finetune strategy to effectively utilize large scale public datasets and streamline development processes. Moreover, we present a Multi-Module Learning (MML) approach, enhancing performance through synergistic and iterative training of multiple models. Extensive experimental results on the Nuscenes dataset demonstrate that our approach renders significant improvement over the traditional training scheme.