@article{bevformerlearningbirdseyeview,
  title = {BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformers},
  author = {Zhiqi Li and Wenhai Wang and Hongyang Li and Enze Xie and Chonghao Sima and Tong Lu and Qiao Yu and Jifeng Dai},
  year = {2022},
  eprint = {2203.17270},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2203.17270v2},
}