NCGR: Noise-Conditional Gated Rectification for Camera Extrinsic Perturbations in BEV 3D Object Detection
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 displace the image-plane projections of BEV reference points, causing queries to sample features from incorrect regions and degrading detection performance. To address this failure mode, Noise-Conditional Gated Rectification (NCGR) is proposed to compensate for projection errors without explicitly estimating a full six-degree-of-freedom extrinsic correction. For each query-camera pair, a 2D rectification offset is predicted and modulated by a camera-level gate to rectify the base projection before native deformabl...
| Authors | Wenbin Pan, Wanhao Liu, Liwei Luo et al. |
|---|---|
| Primary category | cs.CV |
| Published | 4 August 2026 |
| Last updated at source | 4 August 2026 |
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