BEVStereo: Enhancing Depth Estimation in Multi-view 3D Object Detection with Dynamic Temporal Stereo

21 Sep 2022  ·  Yinhao Li, Han Bao, Zheng Ge, Jinrong Yang, Jianjian Sun, Zeming Li ·

Bounded by the inherent ambiguity of depth perception, contemporary camera-based 3D object detection methods fall into the performance bottleneck. Intuitively, leveraging temporal multi-view stereo (MVS) technology is the natural knowledge for tackling this ambiguity. However, traditional attempts of MVS are flawed in two aspects when applying to 3D object detection scenes: 1) The affinity measurement among all views suffers expensive computation cost; 2) It is difficult to deal with outdoor scenarios where objects are often mobile. To this end, we introduce an effective temporal stereo method to dynamically select the scale of matching candidates, enable to significantly reduce computation overhead. Going one step further, we design an iterative algorithm to update more valuable candidates, making it adaptive to moving candidates. We instantiate our proposed method to multi-view 3D detector, namely BEVStereo. BEVStereo achieves the new state-of-the-art performance (i.e., 52.5% mAP and 61.0% NDS) on the camera-only track of nuScenes dataset. Meanwhile, extensive experiments reflect our method can deal with complex outdoor scenarios better than contemporary MVS approaches. Codes have been released at

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Task Dataset Model Metric Name Metric Value Global Rank Benchmark
3D Object Detection nuScenes Camera Only BEVStereo NDS 61.0 # 8


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