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Q-PETR: Quant-aware Position Embedding Transformation for Multi-View 3D Object Detection

PETR-based methods have dominated benchmarks in 3D perception and are increasingly becoming a key component in modern autonomous driving systems. However, their quantization performance significantly degrades when INT8 inference is required, with a degradation of 58.2% in mAP and 36.9% in NDS on the NuScenes dataset. To address this issue, we propose a quantization-aware position embedding transformation for multi-view 3D object detection, termed Q-PETR. Q-PETR offers a quantizationfriendly and deployment-friendly architecture while preserving the original performance of PETR. It substantially narrows the accuracy gap between INT8 and FP32 inference for PETR-series methods. Without bells and whistles, our approach reduces the mAP and NDS drop to within 1% under standard 8-bit per-tensor post-training quantization. Furthermore, our method exceeds the performance of the original PETR in terms of floating-point precision. Extensive experiments across a variety of PETR-series models demonstrate its broad generalization.

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