mlsanityData to 7 Oct 2026

RopeBEV: A Multi-Camera Roadside Perception Network in Bird's-Eye-View

arXiv 2409.11706 ↗First posted 18 Sep 2024cs.CVcited by 5

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Abstract (arXiv)

Multi-camera perception methods in Bird's-Eye-View (BEV) have gained wide application in autonomous driving. However, due to the differences between roadside and vehicle-side scenarios, there currently lacks a multi-camera BEV solution in roadside. This paper systematically analyzes the key challenges in multi-camera BEV perception for roadside scenarios compared to vehicle-side. These challenges include the diversity in camera poses, the uncertainty in Camera numbers, the sparsity in perception regions, and the ambiguity in orientation angles. In response, we introduce RopeBEV, the first dense multi-camera BEV approach. RopeBEV introduces BEV augmentation to address the training balance issues caused by diverse camera poses. By incorporating CamMask and ROIMask (Region of Interest Mask), it supports variable camera numbers and sparse perception, respectively. Finally, camera rotation embedding is utilized to resolve orientation ambiguity. Our method ranks 1st on the real-world highway dataset RoScenes and demonstrates its practical value on a private urban dataset that covers more than 50 intersections and 600 cameras.

Key facts. Cited by 5 papers in the map (data through 7 Oct 2026). Builds on 39 of its 45 references that are in the map. First posted on arXiv 18 Sep 2024.

Builds on

39 of 45 references.

References · 39

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  2. 2022BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformerscited by 1,213
  3. 2020Lift, Splat, Shoot: Encoding Images From Arbitrary Camera Rigs by Implicitly Unprojecting to 3Dcited by 1,040
  4. 2021BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-Viewcited by 711
  5. 2021DETR3D: 3D Object Detection from Multi-view Images via 3D-to-2D Queriescited by 655
  6. 2022BEVDepth: Acquisition of Reliable Depth for Multi-view 3D Object Detectioncited by 568
  7. 2022PETR: Position Embedding Transformation for Multi-View 3D Object Detectioncited by 550
  8. 2022PETRv2: A Unified Framework for 3D Perception from Multi-Camera Imagescited by 351
  9. 2022BEVDet4D: Exploit Temporal Cues in Multi-camera 3D Object Detectioncited by 340
  10. 2022V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformercited by 320
  11. 2023Exploring Object-Centric Temporal Modeling for Efficient Multi-View 3D Object Detectioncited by 313
  12. 2022BEVFormer v2: Adapting Modern Image Backbones to Bird's-Eye-View Recognition via Perspective Supervisioncited by 302
27 more
  1. 2023OccFormer: Dual-path Transformer for Vision-based 3D Semantic Occupancy Predictioncited by 287
  2. 2022DAIR-V2X: A Large-Scale Dataset for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 270
  3. 2022Where2comm: Communication-Efficient Collaborative Perception via Spatial Confidence Mapscited by 255
  4. 2021Embracing Single Stride 3D Object Detector with Sparse Transformercited by 193
  5. 2022Time Will Tell: New Outlooks and A Baseline for Temporal Multi-View 3D Object Detectioncited by 177
  6. 2021ImVoxelNet: Image to Voxels Projection for Monocular and Multi-View General-Purpose 3D Object Detectioncited by 157
  7. 2023SparseBEV: High-Performance Sparse 3D Object Detection from Multi-Camera Videoscited by 149
  8. 2022Robust Collaborative 3D Object Detection in Presence of Pose Errorscited by 129
  9. 2022BEVSegFormer: Bird's Eye View Semantic Segmentation From Arbitrary Camera Rigscited by 123
  10. 2023V2X-Seq: A Large-Scale Sequential Dataset for Vehicle-Infrastructure Cooperative Perception and Forecastingcited by 114
  11. 2023Sparse4D v2: Recurrent Temporal Fusion with Sparse Modelcited by 92
  12. 2022Rope3D: TheRoadside Perception Dataset for Autonomous Driving and Monocular 3D Object Detection Taskcited by 79
  13. 2023BEVHeight: A Robust Framework for Vision-based Roadside 3D Object Detectioncited by 74
  14. 2020Multi-View Fusion of Sensor Data for Improved Perception and Prediction in Autonomous Drivingcited by 41
  15. 2023Fast-BEV: A Fast and Strong Bird's-Eye View Perception Baselinecited by 40
  16. 2022DID-M3D: Decoupling Instance Depth for Monocular 3D Object Detectioncited by 39
  17. 2022X-Align: Cross-Modal Cross-View Alignment for Bird's-Eye-View Segmentationcited by 38
  18. 2024RCooper: A Real-world Large-scale Dataset for Roadside Cooperative Perceptioncited by 37
  19. 2022Adaptive Feature Fusion for Cooperative Perception using LiDAR Point Cloudscited by 29
  20. 2023InfraDet3D: Multi-Modal 3D Object Detection based on Roadside Infrastructure Camera and LiDAR Sensorscited by 25
  21. 2023MonoGAE: Roadside Monocular 3D Object Detection with Ground-Aware Embeddingscited by 20
  22. 2023MonoLSS: Learnable Sample Selection For Monocular 3D Detectioncited by 18
  23. 2023DUSA: Decoupled Unsupervised Sim2Real Adaptation for Vehicle-to-Everything Collaborative Perceptioncited by 17
  24. 2023Calibration-free BEV Representation for Infrastructure Perceptioncited by 15
  25. 2024BEVSpread: Spread Voxel Pooling for Bird's-Eye-View Representation in Vision-based Roadside 3D Object Detectioncited by 15
  26. 2024RoScenes: A Large-scale Multi-view 3D Dataset for Roadside Perceptioncited by 9
  27. 2023Residual Graph Convolutional Network for Bird's-Eye-View Semantic Segmentationcited by 5

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2025: 3; 2026: 2.

5 papers.

  1. 2025Sat2RealCity: Geometry-Aware and Appearance-Controllable 3D Urban Generation from Satellite Imagerycited by 6
  2. 2026You Only Gaussian Once: Controllable 3D Gaussian Splatting for Ultra-Densely Sampled Scenescited by 4
  3. 2025MIC-BEV: Multi-Infrastructure Camera Bird's-Eye-View Transformer with Relation-Aware Fusion for 3D Object Detectioncited by 3
  4. 2025Progressive Bird's Eye View Perception for Safety-Critical Autonomous Driving: A Comprehensive Surveycited by 1
  5. 2026STAR: A Spatial-Topology Aware Routing Framework for Generalizable 3D Scene Understandingcited by 0