mlsanityData to 14 Oct 2026

MamBEV: Enabling State Space Models to Learn Birds-Eye-View Representations

arXiv 2503.13858 ↗First posted 18 Mar 2025cs.CV cs.LGcited by 8

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Abstract (arXiv)

3D visual perception tasks, such as 3D detection from multi-camera images, are essential components of autonomous driving and assistance systems. However, designing computationally efficient methods remains a significant challenge. In this paper, we propose a Mamba-based framework called MamBEV, which learns unified Bird's Eye View (BEV) representations using linear spatio-temporal SSM-based attention. This approach supports multiple 3D perception tasks with significantly improved computational and memory efficiency. Furthermore, we introduce SSM based cross-attention, analogous to standard cross attention, where BEV query representations can interact with relevant image features. Extensive experiments demonstrate MamBEV's promising performance across diverse visual perception metrics, highlighting its advantages in input scaling efficiency compared to existing benchmark models.

Key facts. Cited by 8 papers in the map (data through 14 Oct 2026). Builds on 26 of its 30 references that are in the map. First posted on arXiv 18 Mar 2025.

Builds on

26 of 30 references.

References · 26

  1. 2016Feature Pyramid Networks for Object Detectioncited by 5,036
  2. 2023Mamba: Linear-Time Sequence Modeling with Selective State Spacescited by 4,718
  3. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,523
  4. 2020Deformable DETR: Deformable Transformers for End-to-End Object Detectioncited by 3,422
  5. 2021Efficiently Modeling Long Sequences with Structured State Spacescited by 2,465
  6. 2024Transformers are SSMs: Generalized Models and Efficient Algorithms Through Structured State Space Dualitycited by 1,336
  7. 2022BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformerscited by 1,218
  8. 2022Planning-oriented Autonomous Drivingcited by 1,087
  9. 2024Vision Mamba: Efficient Visual Representation Learning with Bidirectional State Space Modelcited by 1,056
  10. 2020Lift, Splat, Shoot: Encoding Images From Arbitrary Camera Rigs by Implicitly Unprojecting to 3Dcited by 1,044
  11. 2024VMamba: Visual State Space Modelcited by 969
  12. 2021DETR3D: 3D Object Detection from Multi-view Images via 3D-to-2D Queriescited by 658
14 more
  1. 2022BEVDepth: Acquisition of Reliable Depth for Multi-view 3D Object Detectioncited by 572
  2. 2022PETRv2: A Unified Framework for 3D Perception from Multi-Camera Imagescited by 352
  3. 2023Exploring Object-Centric Temporal Modeling for Efficient Multi-View 3D Object Detectioncited by 315
  4. 2022BEVFormer v2: Adapting Modern Image Backbones to Bird's-Eye-View Recognition via Perspective Supervisioncited by 302
  5. 2022Vision Transformer with Deformable Attentioncited by 295
  6. 2021MP3: A Unified Model to Map, Perceive, Predict and Plancited by 212
  7. 2021Panoptic SegFormer: Delving Deeper into Panoptic Segmentation with Transformerscited by 109
  8. 2024The Hidden Attention of Mamba Modelscited by 91
  9. 2024SiMBA: Simplified Mamba-Based Architecture for Vision and Multivariate Time seriescited by 82
  10. 2022BEVDistill: Cross-Modal BEV Distillation for Multi-View 3D Object Detectioncited by 66
  11. 2023Exploring Recurrent Long-term Temporal Fusion for Multi-view 3D Perceptioncited by 65
  12. 2024Hydra: Bidirectional State Space Models Through Generalized Matrix Mixerscited by 44
  13. 2023Viewpoint Equivariance for Multi-View 3D Object Detectioncited by 18
  14. 2024CarbonCP: Carbon-Aware DNN Partitioning with Conformal Prediction for Sustainable Edge Intelligencecited by 6

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2026: 8.

8 papers.

  1. 2026MedSynapse-V: Bridging Visual Perception and Clinical Intuition via Latent Memory Evolutioncited by 12
  2. 2026From Internal Diagnosis to External Auditing: A VLM-Driven Paradigm for Data-Free Online Backdoor Defensecited by 3
  3. 2026Thinking in Scales: Accelerating Gigapixel Pathology Image Analysis via Adaptive Continuous Reasoningcited by 2
  4. 2026Deformba: Vision State Space Model with Adaptive State Fusioncited by 2
  5. 2026VOICE: A Vision-Omics Foundation Model Integrating Direct and Retrieval-Based Prediction of In-situ Single-Cell Gene Expressioncited by 1
  6. 2026Explainable Forensics of Manipulated Segments in Untrimmed Long Videoscited by 0
  7. 2026Not All History Helps: Velocity-Aware Selective Memory for Long-Horizon End-to-End Autonomous Drivingcited by 0
  8. 2026Task-Aware Federated Fine-Tuning for MoE-based Large Language Modelscited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2024MambaBEV: An EV-based 3D detection model with Mamba2
  2. 2025TinyBEV: Cross Modal Knowledge Distillation for Efficient Multi Task Bird's Eye View Perception and Planning
  3. 2026BEVLM: Distilling Semantic Knowledge from LLMs into Bird's-Eye View Representations
  4. 2024OneBEV: Using One Panoramic Image for Bird's-Eye-View Semantic Mapping
  5. 2022MatrixVT: Efficient Multi-Camera to BEV Transformation for 3D Perception
  6. 2025ME3-BEV: Mamba-Enhanced Deep Reinforcement Learning for End-to-End Autonomous Driving with BEV-Perception
  7. 2025BEVUDA++: Geometric-aware Unsupervised Domain Adaptation for Multi-View 3D Object Detection
  8. 2025Progressive Bird's Eye View Perception for Safety-Critical Autonomous Driving: A Comprehensive Survey