bev-perception 开源项目推荐（34 个）

NVlabs /FB-BEV

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

4DVLab /Vision-Centric-BEV-Perception

Vision-Centric BEV Perception: A Survey

vasgaowei /BEV-Perception

Bird's Eye View Perception

MCG-NJU /SparseBEV

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

DerrickXuNu /CoBEVT

[CoRL2022]CoBEVT：使用稀疏变换器实现合作鸟瞰视野语义分割

JiayuZou2020 /DiffBEV

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

TRI-ML /PF-Track

Implementation of PF-Track

Ikhyeon-Cho /FastDEM

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

HCIS-Lab /GaussianLSS

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

alfredgu001324 /MapBEVPrediction

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

JiayuZou2020 /HFT

[ICRA 2023] Official Pytorch implementation for HFT

sunnyHelen /JPerceiver

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

cuixing158 /Visual-Based-Odometry-Estimation

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

GoodarzMehr /SimBEV

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

phi-wol /hydra

Official codebase of HyDRa.

MasterHow /CoBEV

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

santimontiel /gaussiancar

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

roscenes /RoScenes

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

lucifer443 /RecurrentBEV

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

priest-yang /Nuplan-VAD-DataGen

A Data Converter for Nuplan and VAD(VADv2)