{"id":13442126,"url":"https://github.com/NVlabs/FB-BEV","last_synced_at":"2025-03-20T13:32:32.166Z","repository":{"id":175808709,"uuid":"651725935","full_name":"NVlabs/FB-BEV","owner":"NVlabs","description":"Official PyTorch implementation of FB-BEV \u0026 FB-OCC - Forward-backward view transformation for vision-centric autonomous driving perception","archived":false,"fork":false,"pushed_at":"2024-01-12T23:34:17.000Z","size":12292,"stargazers_count":610,"open_issues_count":33,"forks_count":40,"subscribers_count":30,"default_branch":"main","last_synced_at":"2024-08-01T03:39:00.533Z","etag":null,"topics":["3d-object-detection","3d-occupancy-prediction","3d-perception","autonomous-driving","bev-perception","deep-learning","nuscenes","scene-understanding"],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"other","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/NVlabs.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":"CITATION.cff","codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null}},"created_at":"2023-06-09T23:20:48.000Z","updated_at":"2024-07-31T09:57:26.000Z","dependencies_parsed_at":"2024-01-16T02:56:32.266Z","dependency_job_id":null,"html_url":"https://github.com/NVlabs/FB-BEV","commit_stats":null,"previous_names":["nvlabs/fb-bev"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/NVlabs%2FFB-BEV","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/NVlabs%2FFB-BEV/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/NVlabs%2FFB-BEV/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/NVlabs%2FFB-BEV/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/NVlabs","download_url":"https://codeload.github.com/NVlabs/FB-BEV/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":221768466,"owners_count":16877642,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["3d-object-detection","3d-occupancy-prediction","3d-perception","autonomous-driving","bev-perception","deep-learning","nuscenes","scene-understanding"],"created_at":"2024-07-31T03:01:41.981Z","updated_at":"2025-03-20T13:32:32.158Z","avatar_url":"https://github.com/NVlabs.png","language":"Python","funding_links":[],"categories":["Python"],"sub_categories":[],"readme":"# Forward-Backward View Transformation for Vision-Centric AV Perception\n\n\u003cp align=\"center\"\u003e\n\u003cimg src=\"figs/demo_1.png\" width=90% height=90%\u003e\n\u003c/p\u003e\n\n### [Paper (FB-BEV)](https://arxiv.org/abs/2308.02236) | [Paper (FB-OCC)](https://arxiv.org/abs/2307.01492) | [Intro Video](https://youtu.be/KEn8oklzyvo?si=zydZjIwoTzTd-bsO)\n\nFB-BEV and FB-OCC are a family of vision-centric 3D object detection and occupancy prediction methods based on forward-backward view transformation.\n\n## News\n- `[2023/8/01]` FB-BEV was accepted to ICCV 2023.\n- 🏆 `[2023/6/16]` FB-OCC wins both Outstanding Champion and Innovation Award  in [Autonomous Driving Challenge](https://opendrivelab.com/AD23Challenge.html#Track3) in conjunction with CVPR 2023  End-to-End Autonomous Driving Workshop and  Vision-Centric Autonomous Driving Workshop.\n\n\n## Getting Started\n- [Installation](docs/install.md)\n- [Prepare Dataset](docs/prepare_datasets.md)\n- [Training, Eval, Visualization](docs/start.md)\n- [Deployment on NVIDIA DRIVE Platform with TensorRT](deployment)\n \n## Model Zoo\n\n| Backbone | Method | Lr Schd | IoU|  Config | Download |\n| :---: | :---: | :---: | :---: | :---: | :---: |\n| R50 | FB-OCC | 20ep | 39.1 |[config](occupancy_configs/fb_occ/fbocc-r50-cbgs_depth_16f_16x4_20e.py) |[model](https://github.com/zhiqi-li/storage/releases/download/v1.0/fbocc-r50-cbgs_depth_16f_16x4_20e.pth)|\n\n* More model weights will be released later.\n\n## License\n\nCopyright © 2022 - 2023, NVIDIA Corporation. All rights reserved.\n\nThis work is made available under the Nvidia Source Code License-NC. Click [here](https://github.com/NVlabs/FB-BEV/blob/main/LICENSE) to view a copy of this license.\n\nThe pre-trained models are shared under CC-BY-NC-SA-4.0. If you remix, transform, or build upon the material, you must distribute your contributions under the same license as the original.\n\nFor business inquiries, please visit our website and submit the form: [NVIDIA Research Licensing](https://www.nvidia.com/en-us/research/inquiries/).\n\n## Citation\nIf this work is helpful for your research, please consider citing:\n\n```\n@inproceedings{li2023fbbev,\n  title={{FB-BEV}: {BEV} Representation from Forward-Backward View Transformations},\n  author={Li, Zhiqi and Yu, Zhiding and Wang, Wenhai and Anandkumar, Anima and Lu, Tong and Alvarez, Jose M},\n  booktitle={IEEE/CVF International Conference on Computer Vision (ICCV)},\n  year={2023}\n}\n```\n\n```\n@article{li2023fbocc,\n  title={{FB-OCC}: {3D} Occupancy Prediction based on Forward-Backward View Transformation},\n  author={Li, Zhiqi and Yu, Zhiding and Austin, David and Fang, Mingsheng and Lan, Shiyi and Kautz, Jan and Alvarez, Jose M},\n  journal={arXiv:2307.01492},\n  year={2023}\n}\n```\n\n## Acknowledgement\n\nMany thanks to these excellent open source projects:\n\n- [BEVFormer](https://github.com/fundamentalvision/BEVFormer), [BEVDet](https://github.com/HuangJunJie2017/BEVDet), [Occ3D](https://github.com/Tsinghua-MARS-Lab/Occ3D), [OpenOccupancy](https://github.com/JeffWang987/OpenOccupancy), [SoloFusion](https://github.com/Divadi/SOLOFusion)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2FNVlabs%2FFB-BEV","html_url":"https://awesome.ecosyste.ms/projects/github.com%2FNVlabs%2FFB-BEV","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2FNVlabs%2FFB-BEV/lists"}