# TiGDistill-BEV: Multi-view BEV 3D Object Detection via Target Inner-Geometry Learning Distillation Source: [TiGDistill-BEV: Multi-view BEV 3D Object Detection via Target Inner-Geometry Learning Distillation]() Collection index: [llms.txt]() Data updated: 2025-10-26T03:53:27.652Z Authors: Shaoqing Xu, Fang Li, Peixiang Huang, Ziying Song, Zhi-Xin Yang Published: 2024-12-30T12:44:20.000Z ## Abstract Accurate multi-view 3D object detection is essential for applications such as autonomous driving. Researchers have consistently aimed to leverage LiDAR's precise spatial information to enhance camera-based detectors through methods like depth supervision and bird-eye-view (BEV) feature distillation. However, existing approaches often face challenges due to the inherent differences between LiDAR and camera data representations. In this paper, we introduce the TiGDistill-BEV, a novel approach that effectively bridges this gap by leveraging the strengths of both sensors. Our method distills knowledge from diverse modalities(e.g., LiDAR) as the teacher model to a camera-based student detector, utilizing the Target Inner-Geometry learning scheme to enhance camera-based BEV detectors through both depth and BEV features by leveraging diverse modalities. Specially, we propose two key modules: an inner-depth supervision module to learn the low-level relative depth relations within objects which equips detectors with a deeper understanding of object-level spatial structures, and an inner-feature BEV distillation module to transfer high-level semantics of different key points within foreground targets. To further alleviate the domain gap, we incorporate both inter-channel and inter-keypoint distillation to model feature similarity. Extensive experiments on the nuScenes benchmark demonstrate that TiGDistill-BEV significantly boosts camera-based only detectors achieving a state-of-the-art with 62.8% NDS and surpassing previous methods by a significant margin. The codes is available at: https://github.com/Public-BOTs/TiGDistill-BEV.git. ## Recorded benchmark results A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. - [3D Object Detection on nuScenes v1.0-trainval (val)](): 3D Object Detection; nuScenes v1.0-trainval (val); NDS: 58.2. ## Original sources and implementation [Original paper]() [PDF]()