Distortion-Aware PETR
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Distortion-Aware PETR for BEV Object Detection with Mixed Pinhole-Fisheye Cameras
arXiv:2606.08680v1 Announce Type: new Abstract: Fisheye cameras are widely deployed in autonomous driving perception suites for their low cost and full-coverage field of view (FOV), yet their potential remains underleveraged in 3D object detection. Severe radial distortion challenges most BEV detectors by violating the fundamental assumption of uniform sampling.