Papers › Exploring Object-Centric Temporal Modeling for Efficient Multi-View 3D Object Detection
Exploring Object-Centric Temporal Modeling for Efficient Multi-View 3D Object Detection
Shihao Wang, Yingfei Liu, Tiancai Wang, Ying Li, Xiangyu Zhang
In this paper, we propose a long-sequence modeling framework, named StreamPETR, for multi-view 3D object detection. Built upon the sparse query design in the PETR series, we systematically develop an object-centric temporal mechanism. The model is performed in an online manner and the long-term historical information is propagated through object queries frame by frame. Besides, we introduce a motion-aware layer normalization to model the movement of the objects. StreamPETR achieves significant performance improvements only with negligible computation cost, compared to the single-frame baseline. On the standard nuScenes benchmark, it is the first online multi-view method that achieves comparable performance (67.6% NDS & 65.3% AMOTA) with lidar-based methods. The lightweight version realizes 45.0% mAP and 31.7 FPS, outperforming the state-of-the-art method (SOLOFusion) by 2.3% mAP and 1.8x faster FPS. Code has been available at https://github.com/exiawsh/StreamPETR.git.
In Syntology Open this paper in Syntology's Atlas, the map of the papers in Syntology's graph and their citations.
Code
Repository list and official/mentioned flags are the archive's, frozen 2025-07-28. Reachability, where shown, is from one Syntology probe window (2026-09-16 to 2026-09-18); repositories not probed show nothing. GitHub stars are not tracked.
Code Syntology ran Syntology
Not run by Syntology. Nothing on this page verifies that the listed code works.
Tasks
Results from the paper archive 2025-07-28
| Task | Dataset | Model | Metric | Value | Rank at snapshot | Leaderboard | Report |
|---|---|---|---|---|---|---|---|
| 3D Multi-Object Tracking | nuScenes Camera Only | StreamPETR-Large | AMOTA | 65.3 | #1 of 1 | Archive leaderboard | report |
| 3D Object Detection | 3D Object Detection on Argoverse2 Camera Only | StreamPETR | Average mAP | 20.3 | #2 of 3 | Archive leaderboard | report |
| 3D Object Detection | nuScenes Camera Only | StreamPETR-Large | Future Frame | false | #4 of 19 | Archive leaderboard | report |
| 3D Object Detection | nuScenes Camera Only | StreamPETR-Large | NDS | 67.6 | #4 of 19 | Archive leaderboard | report |
Ranks are positions in the archive's leaderboards as they stood at the 2025-07-28 snapshot. Results published since then are not among these rows, so a rank here is not a current standing.
Methods
Report a problem or propose a change · a person checks every report against the paper or source before anything changes; decisions are listed on /corrections