Bi-Level Routing and Sparse Spatial Attention based Multi-View BEV 3D Object Detection for Autonomous Driving

RESUMO

Bird's Eye View (BEV)-based multi-view 3D object detection suffers from challenges of computational complexity, multi-scale feature extraction, and efficiency of dense 2D-to-BEV view transformation. To address these problems, this paper proposes an improved BEV 3D object detection algorithm Sparse-BEVNet. Firstly, a Bi-Level Routing Attention (BRA) mechanism is introduced into the image feature extraction network to reduce the computational burden of the backbone. Second, Cascaded Group Attention (CGA) is employed in the feature fusion module, which enhances deep interaction across features of different hierarchical levels without introducing additional computational overhead. Furthermore, a Sparse Spatial Cross-Attention mechanism is adopted to replace the conventional dense view projection pipeline. Experimental results on the public nuScenes dataset demonstrate that the proposed method achieves a mean Average Precision (mAP) of 45.2% and a nuScenes Detection Score (NDS) of 54.5%, corresponding to 3.6% and 2.8% improvements relative to the baseline model, respectively.