bev-perception

Official PyTorch implementation of FB-BEV & FB-OCC - Forward-backward view transformation for vision-centric autonomous driving perception

Vision-Centric BEV Perception: A Survey

Bird's Eye View Perception

[ICCV 2023 & TPAMI 2026] SparseBEV: High-Performance Sparse 3D Object Detection from Multi-Camera Videos

[CoRL2022] CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformers

Official PyTorch implementation for a conditional diffusion probability model in BEV perception

Implementation of PF-Track

Official PyTorch implementation of "GaussianLSS - Toward Real-world BEV Perception: Depth Uncertainty Estimation via Gaussian Splatting" (CVPR 2025).

Real-time 2.5D elevation mapping engine for embedded mobile robots: C++17 core with optional ROS1/ROS2 support

[ECCV 2024] Accelerating Online Mapping and Behavior Prediction via Direct BEV Feature Attention

[ICRA 2023] Official Pytorch implementation for HFT

[ECCV 2022]JPerceiver: Joint Perception Network for Depth, Pose and Layout Estimation in Driving Scenes

Official codebase of HyDRa.

Stitching and fusion of 4 pairs of on-board surround view fisheye image sequences, odometer estimation and output of large pixel maps.

[ITSC 2026] SimBEV is a configurable and scalable synthetic driving data generation tool and dataset based on the CARLA Simulator.

🚕 [IEEE ICRA 2026] GaussianCaR: Gaussian Splatting for Efficient Camera-Radar Fusion

[TIP 2024] Pytorch implementation of the paper 'CoBEV: Elevating Roadside 3D Object Detection with Depth and Height Complementarity'

[ECCV 2024] RoScenes: A large-scale multi-view 3d dataset for roadside perception

[ECCV 2024] RecurrentBEV: A Long-term Temporal Fusion Framework for Multi-view 3D Detection

A Data Converter for Nuplan and VAD(VADv2)