Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera
  Images via Spatiotemporal Transformers   3D visual perception tasks, including 3D detection and map segmentation based
on multi-camera images, are essential for autonomous driving systems. In this
work, we present a new framework termed BEVFormer, which learns unified BEV
representations with spatiotemporal transformers to support multiple autonomous
driving perception tasks. In a nutshell, BEVFormer exploits both spatial and
temporal information by interacting with spatial and temporal space through
predefined grid-shaped BEV queries. To aggregate spatial information, we design
a spatial cross-attention that each BEV query extracts the spatial features
from the regions of interest across camera views. For temporal information, we
propose a temporal self-attention to recurrently fuse the history BEV
information. Our approach achieves the new state-of-the-art 56.9\% in terms of
NDS metric on the nuScenes test set, which is 9.0 points higher than previous
best arts and on par with the performance of LiDAR-based baselines. We further
show that BEVFormer remarkably improves the accuracy of velocity estimation and
recall of objects under low visibility conditions. The code will be released at
https://github.com/zhiqi-li/BEVFormer.

3
The categories of this paper are: physics
12
The categories of this paper are: nucl-th
6
The categories of this paper are: astro-ph
33
The categories of this paper are: plasm-ph
25
The categories of this paper are: patt-sol
5
The categories of this paper are: gr-qc
9
The categories of this paper are: nlin
16
The categories of this paper are: stat
19
The categories of this paper are: eess
32
The categories of this paper are: atom-ph
4
The categories of this paper are: cond-mat
26
The categories of this paper are: bayes-an
29
The categories of this paper are: funct-an
15
The categories of this paper are: nucl-ex
27
The categories of this paper are: comp-gas
35
The categories of this paper are: mtrl-th