Bird'S-Eye View

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Period ending 2026-09-21

1 new paper

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Period ending 2026-09-14

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A weekly snapshot of new work published in Bird'S-Eye View.

Period ending 2026-09-07

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42 papers

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GRACE: Geometry- and Ray-Aware Camera-Efficient Multi-View Pedestrian Tracking
Sep 15, 2026Taigo Sakai, Kazuhiro Hotta, Hiroki Kouno +1Multi-Object Tracking Bird'S-Eye View
MC-DeTra: Motion-Consistent Joint Object Detection and Socially-Aware Trajectory Forecasting in Bird's-Eye-View Images
Sep 11, 2026Vladislav Diuzhev, Dmitry YudinTrajectory Prediction Multi-Object Tracking
Air-Ground Collaborative Vision-and-Language Navigation via Shared Bird's-Eye Maps
Sep 3, 2026Shuning Zhang, Liang Li, Yunheng Wang +3Aerial Vision-Language Navigation Bird'S-Eye View
MapTCL: Temporal Consistency Learning via Bidirectional Alignment for Vectorized HD Map Construction
Aug 5, 2026Hyeonseo Kim, Juyeb Shin, Hyeonjun Jeong +2Lane-Level Map Generation Mean Average Precision
NCGR: Noise-Conditional Gated Rectification for Camera Extrinsic Perturbations in BEV 3D Object Detection
Aug 4, 2026Wenbin Pan, Wanhao Liu, Liwei Luo +3Bird'S-Eye View Camera Intrinsics
MoRAL: Sensor-Grounded BEV Reasoning for Compact VLMs toward Edge-Oriented Autonomous Driving
Aug 3, 2026Ambarish Govindarajulu Kaliamurthi, Kaikai LiuLarge Vision Language Models Autonomous Driving
CalibBEV: LiDAR-Camera Calibration via BEV Alignment
Aug 3, 2026Filippo D'Addeo, Lorenzo Cipelli, Adriano Cardace +3Camera Intrinsics Lidar
MATS: A novel multi-modality multi-task learning framework for 3D perception in autonomous driving
Jul 27, 2026Junchen Huo, Wanming Hao, Song Wang +3Autonomous Driving Perception Multi-Sensor Fusion
SimBEV2X: A Large-Scale Dataset and Data Generation Tool for Multi-Task Vehicle-to-Everything Cooperative Perception
Jul 27, 2026Goodarz Mehr, Sepideh Gohari, Montasir Abbas +1V2X Collaborative Perception
Variational Inference for Bird's Eye View Segmentation in Autonomous Driving
Jul 16, 2026Jingyue Shi, Huaicheng Li, Junhui Zhao +1Bird'S-Eye View Autonomous Driving Perception
ViCo3D: Empowering LiDAR-based Collaborative 3D Object Detection with Vision Foundation Models
Jul 14, 2026Haojie Ren, Songrui Luo, Lingfeng Wang +63D Object Detection Lidar
FlashBEV: Fast and Memory-Efficient Exact BEV Transformation with IO-Awareness
Jul 11, 2026Shunsuke Yokokawa, Hironori KasaharaBird'S-Eye View Self-Supervised Vision Transformers
PROBE-X: Learning-Free Cross-FOV Place Recognition
Jul 7, 2026Jinseop LeeVisual Place Recognition Bird'S-Eye View
TGRIP: A Text-Guided Approach to Vehicle Instance Prediction in Autonomous Driving
Jul 6, 2026Miguel Antunes-García, Santiago Montiel-Marín, Fabio Sánchez-García +3Autonomous Driving Perception Autonomous Driving
GaussianMap: Learning Gaussian Representation for Multi-Sensor Online HD Map Construction
Jun 30, 2026Hongyu Lyu, Julie Stephany Berrio Perez, Mao Shan +1Lane-Level Map Generation Bird'S-Eye View
Horizon3D: Sparse Radar-Camera Fusion for Long-Range 3D Perception in Autonomous Driving
Jun 30, 2026Geonho Bang, Geunju Baek, Dongyoung Lee +2Vision-Radar Fusion 3D Object Detection
AerialFusionMapNet: Online HD Map Construction with Aerial-Onboard BEV Fusion
Jun 23, 2026Daniel Lengerer, Mathias Pechinger, Klaus Bogenberger +1Bird'S-Eye View Aerial Imagery
Open-Vocabulary BEV Segmentation with 3D-Aware Geometric Constraints
Jun 23, 2026Hojun Choi, Seulbin Hwang, Dae Jung Kim +3Bird'S-Eye View Autonomous Driving
BEV-Denoise: Learning Intrinsic Noise for Accurate Bird's-Eye-View Semantic Segmentation
Jun 22, 2026Dooseop Choi, Kyounghwan An, Kyoung-Wook MinBird'S-Eye View Dense Semantic Segmentation
Cross-View Yaw Estimation in Location Uncertainty with Line-Aligning Yaw Scoring
Jun 20, 2026Taeho Kang, Nairan Zhang, Yelin Kim +2Bird'S-Eye View
GraphBEV++: Multi-Modal Feature Alignment for Autonomous Driving
Jun 15, 2026Ziying Song, Caiyan Jia, Lin Liu +3Multi-Sensor Fusion Bird'S-Eye View
Understanding Cross-Sensor Feature Variations for Generalizable 3D Perception
Jun 10, 2026Xin Qiu, Wenjie Liu, Fuyuan Ai +3Vision-Radar Fusion 3D Object Detection
Geometry-Aware Fisheye-LiDAR Fusion for Robust 3D Object Detection in Low-Overlap Setups
Jun 7, 2026Xiangzhong Liu, Xihao Wang, Hao ShenVision-Radar Fusion Lidar
Distortion-Aware PETR for BEV Object Detection with Mixed Pinhole-Fisheye Cameras
Jun 7, 2026Xiangzhong LiuBird'S-Eye View 3D Object Detection
Cross-View Urban Traffic Dataset: Drone-Supervised Ground Truth for Monocular Bird's-Eye View Localization
Jun 5, 2026Prakhar Bhardwaj, Simone Weikl, Kilian Mang +1Bird'S-Eye View Re-Identification
A 3D Isovist World Model -- Revealing a City's Unseen Geometry and Its Emergent Cross-City Signature
Jun 2, 2026Xuhui Lin, Stephen Law, Nanjiang Chen +23D Environments 3D World
BEVIO: Efficient Bird's-Eye-View based Sparse-Update Visual-Inertial Odometry for Lunar Day-Night Navigation
May 30, 2026Mohit Singh, Shehryar Khattak, Ashish Goel +3Visual Odometry Bird'S-Eye View
Can BEV Perception Gracefully Degrade under Sensor Failures?
May 29, 2026Haifa Zhang, Yijing Wang, Haoyu Wang +2Multi-Sensor Fusion Bird'S-Eye View
AnyScene: Towards Highly Controllable Driving Scene Generation at Anywhere and Beyond
May 25, 2026Haiming Zhang, Junfei Zhou, Feng Jiang +6Controllable Video Generation Autonomous Driving
Semantics-Guided Multimodal Masked Autoencoder Pretraining for 3D BEV Object Detection
May 24, 2026Prabuddhi Wariyapperuma, Rajitha de Silva, Marc Hanheide +23D Object Detection Bird'S-Eye View
GA-VLN: Geometry-Aware BEV Representation for Efficient Vision-Language Navigation
May 21, 2026Jiahao Yang, Zihan Wang, Xiangyang Li +4Vision-Language Navigation Bird'S-Eye View
Hyper-V2X: Hypernetworks for Estimating Epistemic and Aleatoric Uncertainty in Cooperative Bird's-Eye-View Semantic Segmentation
May 20, 2026Abhishek Dinkar Jagtap, Sanath Tiptur Sadashivaiah, Andreas FestagV2X Collaborative Perception
Co-Fusion4D: Spatio-temporal Collaborative Fusion for Robust 3D Object Detection
May 19, 2026Wenxuan Li, Qin Zou, Shoubing Chen +33D Object Detection Bird'S-Eye View
TriBand-BEV: Real-Time LiDAR-Only 3D Pedestrian Detection via Height-Aware BEV and High-Resolution Feature Fusion
May 12, 2026Mohammad Khoshkdahan, Alexey Vinel3D Object Detection Bird'S-Eye View
Learning Ego-Centric BEV Representations from a Perspective-Privileged View: Cross-View Supervision for Online HD Map Construction
May 12, 2026Daniel Lengerer, Mathias Pechinger, Klaus Bogenberger +1Bird'S-Eye View Lane-Level Map Generation
REFNet++: Multi-Task Efficient Fusion of Camera and Radar Sensor Data in Bird's-Eye Polar View
May 12, 2026Kavin Chandrasekaran, Sorin Grigorescu, Gijs Dubbelman +1Vision-Radar Fusion Multi-Sensor Fusion
SB-BEVFusion: Enhancing the Robustness against Sensor Malfunction and Corruptions
May 12, 2026Markus Essl, Marta Moscati, Mubashir Noman +4Multi-Sensor Fusion Multimodal Fusion
GOLD-BEV: GrOund and aeriaL Data for Dense Semantic BEV Mapping of Dynamic Scenes
Apr 21, 2026Joshua Niemeijer, Alaa Eddine Ben Zekri, Reza Bahmanyar +3Bird'S-Eye View Scene Representation
FlatLands: Generative Floormap Completion From a Single Egocentric View
Mar 16, 2026Subhransu S. Bhattacharjee, Dylan Campbell, Rahul ShomeBird'S-Eye View Indoor Environments
BEVLM: Distilling Semantic Knowledge from LLMs into Bird's-Eye View Representations
Mar 6, 2026Thomas Monninger, Shaoyuan Xie, Qi Alfred Chen +1Bird'S-Eye View Autonomous Driving
Fast-BEV++: Fast by Algorithm, Deployable by Design
Dec 9, 2025Yuanpeng Chen, Hui Song, Sheng Yang +5Bird'S-Eye View Vision Sensors
LightOcc: Lightweight Spatial Embedding for Efficient Vision-based 3D Occupancy Prediction
Dec 8, 2024Jinqing Zhang, Yanan Zhang, Wenrui Cai +23D Semantic Occupancy Prediction Occupancy

Sep 15, 2026 · cs.CVJ/K move · Enter open · S save

GRACE: Geometry- and Ray-Aware Camera-Efficient Multi-View Pedestrian Tracking

Taigo Sakai, Kazuhiro Hotta, Hiroki Kouno, Naoki Kato

Meijo university · Chubu Electric Power Co., Inc. · Department of Science Technology 1-1 Higashishin-cho, Higashi-ku, 1-501, Shiogamaguchi, Nagoya 461-8680, Japan Tempaku, Nagoya 468-8501, Japan

Reducing the number of cameras reduces the deployment cost but removes views that correct BEV responses stretched away from true pedestrian positions by projection and short score drops that can split tracks} in Bird's-Eye View (BEV) tracking. We introduce GRACE, a camera-efficient multi-view tracker with three components. Volumetric-Guided Fusion combines homography-based BEV features with features lifted through 3D space. Ray Conditioning exposes each camera's viewing direction to the fusion network. Its tracking component, BEV Track Recovery (BTR), uses low-confidence detections only to continue existing tracks. The same detections cannot start new tracks. With two WildTrack cameras, GRACE improves MOTA from 83.54 for TrackTacular, our baseline, to 91.07.

Multi-Object Tracking Bird'S-Eye View

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