NCGR: Noise-Conditional Gated Rectification for Camera Extrinsic Perturbations in BEV 3D Object Detection

Wenbin Pan, Wanhao Liu, Liwei Luo +3

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 di…