FishRoPE reparameterizes attention mechanisms in fisheye images to use angular separation in spherical coordinates, enabling frozen vision foundation models to achieve state-of-the-art results on 2D detection and BEV segmentation benchmarks.
OmniDet: Surround view cameras based multi- task visual perception network for autonomous driving.IEEE RAL
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FishRoPE: Projective Rotary Position Embeddings for Omnidirectional Visual Perception
FishRoPE reparameterizes attention mechanisms in fisheye images to use angular separation in spherical coordinates, enabling frozen vision foundation models to achieve state-of-the-art results on 2D detection and BEV segmentation benchmarks.