What is BEV? Introduction to the Birds'-eye-view Perception. скачать в хорошем качестве

What is BEV? Introduction to the Birds'-eye-view Perception.

Bird’s-eye-view (BEV) representations have become a central abstraction for perception in autonomous driving. Modern vehicles are equipped with heterogeneous sensors—LiDAR, multi-view cameras, radar, and GNSS/IMU—that observe the scene from different viewpoints and at different resolutions. To support reliable planning and control, these observations must be fused into a scene-centric representation that is stable over time, aligns with HD maps and traffic rules, and is amenable to geometric reasoning. BEV representations, which parameterize the environment on a ground-aligned 2D grid (or 3D voxel field), satisfy these requirements and have therefore become the de facto interface between perception, prediction, and planning.