BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representation

🤖 Plain-English Summary

Multi-sensor fusion is essential for an accurate and reliable autonomous driving system. It establishes the new state of the art on the nuScenes benchmark, achieving 1.3% higher mAP and NDS on 3D object detection and 13.6% higher mIoU on BEV map segmentation, with 1.9× lower computation cost.

🔑 Key Findings

• Recent approaches are based on point-level fusion: augmenting the LiDAR point cloud with camera features.
• However, the camera-to-LiDAR projection throws away the semantic density of camera features, hindering the effectiveness of such methods, especially for semantic-oriented tasks (such as 3D scene segmentation).
• In this paper, we propose BEVFusion, an efficient and generic multi-task multi-sensor fusion framework.

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