FishRoPE: Projective Rotary Position Embeddings for Omnidirectional Visual Perception
Vision foundation models (VFMs) and Bird's Eye View (BEV) representation have advanced visual perception substantially, yet their internal spatial representations assume the rectilinear geometry of pinhole cameras. Fisheye cameras, widely deployed on production autonomous vehicles for their surround-view coverage, exhibit severe radial distortion that renders these representations geometrically inconsistent. At the same time, the scarcity of large-scale fisheye annotations makes retraining foundation models from scratch impractical. We present \ours, a lightweight framework that adapts frozen VFMs to fisheye geometry through two components: a frozen DINOv2 backbone with Low-Rank Adaptatio...
| Authors | Rahul Ahuja, Mudit Jain, Bala Murali Manoghar Sai Sudhakar et al. |
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| Primary category | cs.CV |
| Published | 12 April 2026 |
| Last updated at source | 12 April 2026 |
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