MIC-BEV: Multi-Infrastructure Camera Bird's-Eye-View Transformer with Relation-Aware Fusion for 3D Object Detection

Yun Zhang; Zhaoliang Zheng; Johnson Liu; Zhiyu Huang; Zewei Zhou; Zonglin Meng; Tianhui Cai; Jiaqi Ma

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arXiv · 2510.24688

MIC-BEV: Multi-Infrastructure Camera Bird's-Eye-View Transformer with Relation-Aware Fusion for 3D Object Detection

Yun Zhang·Zhaoliang Zheng·Johnson Liu·Zhiyu Huang·Zewei Zhou·Zonglin Meng·Tianhui Cai·Jiaqi Ma

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Abstract

Infrastructure-based perception plays a crucial role in intelligent transportation systems, offering global situational awareness and enabling cooperative autonomy. However, existing camera-based detection models often underperform in such scenarios due to challenges such as multi-view infrastructure setup, diverse camera configurations, degraded visual inputs, and various road layouts. We introduce MIC-BEV, a Transformer-based bird's-eye-view (BEV) perception framework for infrastructure-based multi-camera 3D object detection. MIC-BEV flexibly supports a variable number of cameras with heterogeneous intrinsic and extrinsic parameters and demonstrates strong robustness under sensor degradation. The proposed graph-enhanced fusion module in MIC-BEV integrates multi-view image features into the BEV space by exploiting geometric relationships between cameras and BEV cells alongside latent visual cues. To support training and evaluation, we introduce M2I, a synthetic dataset for infrastructure-based object detection, featuring diverse camera configurations, road layouts, and environmental conditions. Extensive experiments on both M2I and the real-world dataset RoScenes demonstrate that MIC-BEV achieves state-of-the-art performance in 3D object detection. It also remains robust under challenging conditions, including extreme weather and sensor degradation. These results highlight the potential of MIC-BEV for real-world deployment. The dataset and source code are available at: https://github.com/HandsomeYun/MIC-BEV.

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Yun Zhang, Zhaoliang Zheng, Johnson Liu, Zhiyu Huang, Zewei Zhou, Zonglin Meng, Tianhui Cai, Jiaqi Ma. 2025-10-28. MIC-BEV: Multi-Infrastructure Camera Bird's-Eye-View Transformer with Relation-Aware Fusion for 3D Object Detection. https://arxiv.org/abs/2510.24688

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