NCGR adds a learned gated 2D offset to spatial-cross-attention sampling points, raising nuScenes NDS from 0.280 to 0.397 under five-camera extrinsic perturbation while preserving clean accuracy.
Proceedings of the Thirty-First International Joint Conference on Artificial Intelligence , pages =
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NCGR: Noise-Conditional Gated Rectification for Camera Extrinsic Perturbations in BEV 3D Object Detection
NCGR adds a learned gated 2D offset to spatial-cross-attention sampling points, raising nuScenes NDS from 0.280 to 0.397 under five-camera extrinsic perturbation while preserving clean accuracy.