@misc{liu2022petrv,
  title={PETRv2: A Unified Framework for 3D Perception from Multi-Camera Images},
  author={Yingfei Liu and Junjie Yan and Fan Jia and Shuailin Li and Qi Gao and Tiancai Wang and Xiangyu Zhang and Jian Sun},
  year={2022},
  eprint={2206.01256},
  archivePrefix={arXiv},
  primaryClass={cs.CV},
  url={https://arxiv.org/abs/2206.01256}
}