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arXiv · 2512.08237

Fast-BEV++: Fast by Algorithm, Deployable by Design

Yuanpeng Chen·Hui Song·Sheng Yang·Wei Tao·Shanhui Mo·Shuang Zhang·Xiao Hua·Tiankun Zhao
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Abstract

The advancement of vision-only BEV (Bird's-Eye-View) perception is hindered by the fundamental trade-off between perception accuracy and deployment efficiency. We introduce Fast-BEV++, resolving this tension through two principles: Fast by Algorithm and Deployable by Design. By decomposing view transformation into a hardware-oriented Index-Gather-Reshape pipeline, Fast-BEV++ eliminates custom kernels while achieving no less than 3 times speedup over baseline methods. Empirically, Fast-BEV++ establishes a new state-of-the-art accuracy-speed trade-off on nuScenes, achieving 0.488 NDS while sustaining real-time inference at over 134 FPS. In particular, depth supervision yields consistent and tangible performance gains, maintaining the highest accuracy among comparable methods. The decomposed architecture enables seamless real-time deployment on production-level platforms, eliminating hardware constraints without loss of efficiency. Code and models are released on the linked project page.

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Yuanpeng Chen, Hui Song, Sheng Yang, Wei Tao, Shanhui Mo, Shuang Zhang, Xiao Hua, Tiankun Zhao. 2026-09-03. Fast-BEV++: Fast by Algorithm, Deployable by Design. https://arxiv.org/abs/2512.08237

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