PQR3D: Progressive Query Refinement over Reference-Conditioned Temporal Windows for Multi-View 3D Object Detection

arXiv:2609.32163 · cs.CV · Submitted 2026-09-26 · Read on arXiv

cs.CV

Submitted: 2026-09-26

Updated: 2026-09-26

Code: https://github.com/huiyegit/PQR3D

Terminology

• Progressive Query Refinement — 11× in this paper
• Transformer — 10× in this paper · explained in 2 episodes
• Ablation — 7× in this paper · explained in 1 episode
• Accuracy — 6× in this paper · explained in 1 episode
• Embeddings — 6× in this paper · explained in 2 episodes
• Ablation Studies — 4× in this paper · explained in 1 episode
• Attention Mechanism — 3× in this paper · explained in 3 episodes
• Benchmark — 3× in this paper · explained in 2 episodes
• Aggregation — 2× in this paper · explained in 1 episode
• Decoupling — 2× in this paper · explained in 2 episodes
• Information Leakage — 2× in this paper · explained in 2 episodes
• Regularization — 2× in this paper · explained in 3 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Data Augmentation — 1× in this paper · explained in 7 episodes
• Decode — 1× in this paper · explained in 2 episodes
• Generative AI — 1× in this paper · explained in 2 episodes
• Multimodal Dataset — 1× in this paper · explained in 2 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Redundancy — 1× in this paper · explained in 2 episodes
• True Positive — 1× in this paper
• Unified Framework — 1× in this paper · explained in 5 episodes

Sources

• An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale
• AeDet: Azimuth-invariant Multi-view 3D Object Detection
• BEVDet4D: Exploit Temporal Cues in Multi-camera 3D Object Detection
• BEVPoolv2: A Cutting-edge Implementation of BEVDet Toward Deployment
• BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-View
• RoPETR: Improving Temporal Camera-Only 3D Detection by Integrating Enhanced Rotary Position Embedding
• BEVDepth: Acquisition of Reliable Depth for Multi-view 3D Object Detection
• Sparse4D: Multi-view 3D Object Detection with Sparse Spatial-Temporal Fusion
• Sparse4D v2: Recurrent Temporal Fusion with Sparse Model
• Sparse4D v3: Advancing End-to-End 3D Detection and Tracking
• HENet++: Hybrid Encoding and Multi-task Learning for 3D Perception and End-to-end Autonomous Driving

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