Preprint
Aug 2026
NCGR: Noise-Conditional Gated Rectification for Camera Extrinsic Perturbations in BEV 3D Object Detection
Camera-based bird's-eye-view (BEV) 3D detection typically assumes accurate and fixed camera extrinsics. In detectors using spatial cross-attention (SCA), extrinsic perturbations displace the image-plane projections of BEV reference points, causing queries to sample features from incorrect regions and degrading detectio...
Wenbin Pan, Wanhao Liu, Liwei Luo et al.
· 0 citations