/Birds-eye-view-Perception

[IEEE T-PAMI] Awesome BEV perception research and cookbook for all level audience in autonomous diriving

Primary LanguagePythonApache License 2.0Apache-2.0

Bird's-eye-view (BEV) Perception: A Survey and Collection

Awesome BEV perception papers and toolbox for achieving state-of-the-arts performance.

Table of Contents

Introduction

This repo is associated with the survey paper "Delving into the Devils of Bird’s-eye-view Perception: A Review, Evaluation and Recipe", which provides an up-to-date literature survey for BEV perception and an open-source BEV toolbox based on PyTorch. We also introduce the BEV algorithm family, including follow-up work on BEV percepton such as VCD, GAPretrain, and FocalDistiller. We hope this repo can not only be a good starting point for new beginners but also help current researchers in the BEV perception community.

If you find some work popular enough to be cited below, email us or simply open a PR!

Major Features

  • Up-to-date Literature Survey for BEV Perception
    We summarize important methods in recent years about BEV perception, including different modalities (camera, LIDAR, Fusion) and tasks (Detection, Segmentation, Occupancy). More details of the survey paper list can be found here.

  • Convenient BEVPerception Toolbox
    We integrate a bag of tricks in the BEV toolbox that helps us achieve 1st in the camera-based detection track of the Waymo Open Challenge 2022, which can be used independently or as a plug-in for popular deep learning libraries. Moreover, we provide a suitable playground for beginners in this area, including a hands-on tutorial and a small-scale dataset (1/5 WOD in kitti format) to validate ideas. More details can be found here.

  • SOTA BEV Knowledge Distillation Algorithms
    We include important follow-up works of BEVFormer/BEVDepth/SOLOFusion in the perspective of knowledge distillation(VCD, GAPretrain, FocalDistiller). More details of each paper can be found in each README.md file under here.

Method Expert Apprentice
VCD Vision-centric multi-modal detector Camera-only detector
GAPretrain Lidar-only detector Camera-only detector
FocalDistiller Camera-only detector Camera-only detector

What's New

2023/11/04 Our Survey is accepted by IEEE T-PAMI.

2023/10/26 A new paper VCD is coming soon with official implementation.

2023/09/06 We have a new version of the survey. Check it out!

2023/04/06 Two new papers GAPretrain and FocalDistiller are coming soon with official implementation.

2022/10/13 v0.1 was released.

  • Integrate some practical data augmentation methods for BEV camera-based 3D detection in the toolbox.
  • Offer a pipeline to process the Waymo dataset (camera-based 3D detection).
  • Release a baseline (with config) for the Waymo dataset and also 1/5 of the Waymo dataset in Kitti format.

Literature Survey

The general picture of BEV perception at a glance, where consists of three sub-parts based on the input modality. BEV perception is a general task built on top of a series of fundamental tasks. For better completeness of the whole perception algorithms in autonomous driving, we list other topics as well. More details can be found in the survey paper.

We have summarized important datasets and methods in recent years about BEV perception in academia and also different roadmaps used in industry.

We have also summarized some conventional methods for different tasks.

BEV Toolbox

The BEV toolbox provides useful recipes for BEV camera-based 3D object detection, including solid data augmentation strategies, efficient BEV encoder design, loss function family, useful test-time augmentation, ensemble policy, and so on. Please refer to bev_toolbox/README.md for more details.

BEV Knowledge Distillation Algorithms

The BEV algorithm family includes follow-up works of BEVFormer in different aspects, ranging from plug-and-play tricks to pre-training distillation. All paper summary is under nuscenes_playground along with official implementation, check it out!

License and Citation

This project is released under the Apache 2.0 license.

If you find this project useful in your research, please consider cite:

@article{li2022bevsurvey,
  author={Li, Hongyang and Sima, Chonghao and Dai, Jifeng and Wang, Wenhai and Lu, Lewei and Wang, Huijie and Zeng, Jia and Li, Zhiqi and Yang, Jiazhi and Deng, Hanming and Tian, Hao and Xie, Enze and Xie, Jiangwei and Chen, Li and Li, Tianyu and Li, Yang and Gao, Yulu and Jia, Xiaosong and Liu, Si and Shi, Jianping and Lin, Dahua and Qiao, Yu},
  journal={IEEE Transactions on Pattern Analysis and Machine Intelligence}, 
  title={Delving Into the Devils of Bird's-Eye-View Perception: A Review, Evaluation and Recipe}, 
  year={2023},
  volume={},
  number={},
  pages={1-20},
  doi={10.1109/TPAMI.2023.3333838}
}
@misc{bevtoolbox2022,
  title={{BEVPerceptionx-Survey-Recipe} toolbox for general BEV perception},
  author={BEV-Toolbox Contributors},
  howpublished={\url{https://github.com/OpenDriveLab/Birds-eye-view-Perception}},
  year={2022}
}