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

arXiv: https://arxiv.org/abs/2503.13858 · HTML: https://mlsanity.com/paper/2503.13858/

## 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 (most cited first, 26 of 26)

- [Feature Pyramid Networks for Object Detection](https://mlsanity.com/paper/1612.03144/) (2016)
- [Mamba: Linear-Time Sequence Modeling with Selective State Spaces](https://mlsanity.com/paper/2312.00752/) (2023)
- [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)
- [Efficiently Modeling Long Sequences with Structured State Spaces](https://mlsanity.com/paper/2111.00396/) (2021)
- [Transformers are SSMs: Generalized Models and Efficient Algorithms Through Structured State Space Duality](https://mlsanity.com/paper/2405.21060/) (2024)
- [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)
- [Vision Mamba: Efficient Visual Representation Learning with Bidirectional State Space Model](https://mlsanity.com/paper/2401.09417/) (2024)
- [Lift, Splat, Shoot: Encoding Images From Arbitrary Camera Rigs by Implicitly Unprojecting to 3D](https://mlsanity.com/paper/2008.05711/) (2020)
- [VMamba: Visual State Space Model](https://mlsanity.com/paper/2401.10166/) (2024)
- [DETR3D: 3D Object Detection from Multi-view Images via 3D-to-2D Queries](https://mlsanity.com/paper/2110.06922/) (2021)
- [BEVDepth: Acquisition of Reliable Depth for Multi-view 3D Object Detection](https://mlsanity.com/paper/2206.10092/) (2022)
- [PETRv2: A Unified Framework for 3D Perception from Multi-Camera Images](https://mlsanity.com/paper/2206.01256/) (2022)
- [Exploring Object-Centric Temporal Modeling for Efficient Multi-View 3D Object Detection](https://mlsanity.com/paper/2303.11926/) (2023)
- [BEVFormer v2: Adapting Modern Image Backbones to Bird's-Eye-View Recognition via Perspective Supervision](https://mlsanity.com/paper/2211.10439/) (2022)
- [Vision Transformer with Deformable Attention](https://mlsanity.com/paper/2201.00520/) (2022)
- [MP3: A Unified Model to Map, Perceive, Predict and Plan](https://mlsanity.com/paper/2101.06806/) (2021)
- [Panoptic SegFormer: Delving Deeper into Panoptic Segmentation with Transformers](https://mlsanity.com/paper/2109.03814/) (2021)
- [The Hidden Attention of Mamba Models](https://mlsanity.com/paper/2403.01590/) (2024)
- [SiMBA: Simplified Mamba-Based Architecture for Vision and Multivariate Time series](https://mlsanity.com/paper/2403.15360/) (2024)
- [BEVDistill: Cross-Modal BEV Distillation for Multi-View 3D Object Detection](https://mlsanity.com/paper/2211.09386/) (2022)
- [Exploring Recurrent Long-term Temporal Fusion for Multi-view 3D Perception](https://mlsanity.com/paper/2303.05970/) (2023)
- [Hydra: Bidirectional State Space Models Through Generalized Matrix Mixers](https://mlsanity.com/paper/2407.09941/) (2024)
- [Viewpoint Equivariance for Multi-View 3D Object Detection](https://mlsanity.com/paper/2303.14548/) (2023)
- [CarbonCP: Carbon-Aware DNN Partitioning with Conformal Prediction for Sustainable Edge Intelligence](https://mlsanity.com/paper/2404.16970/) (2024)

## Built on by (most cited first, 8 of 8)

- [MedSynapse-V: Bridging Visual Perception and Clinical Intuition via Latent Memory Evolution](https://mlsanity.com/paper/2604.26283/) (2026)
- [From Internal Diagnosis to External Auditing: A VLM-Driven Paradigm for Data-Free Online Backdoor Defense](https://mlsanity.com/paper/2601.19448/) (2026)
- [Thinking in Scales: Accelerating Gigapixel Pathology Image Analysis via Adaptive Continuous Reasoning](https://mlsanity.com/paper/2605.19491/) (2026)
- [Deformba: Vision State Space Model with Adaptive State Fusion](https://mlsanity.com/paper/2605.21308/) (2026)
- [VOICE: A Vision-Omics Foundation Model Integrating Direct and Retrieval-Based Prediction of In-situ Single-Cell Gene Expression](https://mlsanity.com/paper/2608.08366/) (2026)
- [Explainable Forensics of Manipulated Segments in Untrimmed Long Videos](https://mlsanity.com/paper/2606.02402/) (2026)
- [Not All History Helps: Velocity-Aware Selective Memory for Long-Horizon End-to-End Autonomous Driving](https://mlsanity.com/paper/2608.15573/) (2026)
- [Task-Aware Federated Fine-Tuning for MoE-based Large Language Models](https://mlsanity.com/paper/2609.13395/) (2026)

## 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.