SimPB++: Simultaneously Detecting 2D and 3D Objects from Multiple Cameras
Simultaneous perception of 2D objects in perspective view and 3D objects in Bird's Eye View (BEV) is challenging for multi-camera autonomous driving. Existing two-stage pipelines use 2D results only as a one-time cue for 3D detection. We propose SimPB++, which simultaneously detects 2D objects in perspective and 3D objects in BEV from multiple cameras. It unifies both tasks into an end-to-end model with a hybrid decoder architecture, coupling multi-view 2D and 3D decoders interactively. Two novel modules enable deep interaction: Dynamic Query Allocation adaptively assigns 2D queries to 3D candidates, and Adaptive Query Aggregation refines 3D representations using multi-view 2D features, f...
| Authors | Yingqi Tang, Zhaotie Meng, Erkang Cheng et al. |
|---|---|
| Primary category | cs.CV |
| Published | 3 May 2026 |
| Last updated at source | 3 May 2026 |
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