@inproceedings{li2022bevformer,
  title={Bevformer: Learning bird’s-eye-view representation from multi-camera images via spatiotemporal transformers},
  author={Li, Zhiqi and Wang, Wenhai and Li, Hongyang and Xie, Enze and Sima, Chonghao and Lu, Tong and Qiao, Yu and Dai, Jifeng},
  booktitle={Computer Vision--ECCV 2022: 17th European Conference, Tel Aviv, Israel, October 23--27, 2022, Proceedings, Part IX},
  pages={1--18},
  year={2022},
  organization={Springer}
}