Bevformer v2: Adapting modern image backbones to bird's-eye-view recognition via perspective supervision

C Yang, Y Chen, H Tian, C Tao, X Zhu… - Proceedings of the …, 2023 - openaccess.thecvf.com
Proceedings of the IEEE/CVF Conference on Computer Vision and …, 2023openaccess.thecvf.com
We present a novel bird's-eye-view (BEV) detector with perspective supervision, which
converges faster and better suits modern image backbones. Existing state-of-the-art BEV
detectors are often tied to certain depth pre-trained backbones like VoVNet, hindering the
synergy between booming image backbones and BEV detectors. To address this limitation,
we prioritize easing the optimization of BEV detectors by introducing perspective space
supervision. To this end, we propose a two-stage BEV detector, where proposals from the …
Abstract
We present a novel bird's-eye-view (BEV) detector with perspective supervision, which converges faster and better suits modern image backbones. Existing state-of-the-art BEV detectors are often tied to certain depth pre-trained backbones like VoVNet, hindering the synergy between booming image backbones and BEV detectors. To address this limitation, we prioritize easing the optimization of BEV detectors by introducing perspective space supervision. To this end, we propose a two-stage BEV detector, where proposals from the perspective head are fed into the bird's-eye-view head for final predictions. To evaluate the effectiveness of our model, we conduct extensive ablation studies focusing on the form of supervision and the generality of the proposed detector. The proposed method is verified with a wide spectrum of traditional and modern image backbones and achieves new SoTA results on the large-scale nuScenes dataset. The code shall be released soon.
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