MM-BEV: Enhancing Timeliness by Computing Where and When it Matters

Abstract

Multimodal bird's-eye-view (BEV) perception combines LiDAR depth accuracy with dense camera semantics, but its high computational cost and imperfect sensing conditions make real-time deployment challenging. Existing methods largely compress individual detectors and overlook three opportunities: structured sparsity within camera and LiDAR inputs, timing misalignment between modalities, and the fact that many detected objects do not affect the planner's immediate action. We present MM-BEV, a real-time multimodal BEV system guided by a simple principle: compute where and when it matters. MM-BEV divides perception into mandatory work for safety-critical objects within braking distance of the ego vehicle and with short time-to-collision (TTC), and optional work for less urgent regions. It prioritizes mandatory work and reduces or sheds optional work under tight compute budgets. MM-BEV integrates four mechanisms: (1) a criticality-ranked temporal ROI selector based on motion-extrapolated detections from prior frames; (2) sparse, ROI-aware feature extraction using shared-shape camera crops at context-adaptive resolution and ROI-aware LiDAR voxelization; (3) a latency-aware coordinator that adapts LiDAR sweeps, image resolution, and keyframes according to scene dynamics and TTC; and (4) an asynchronous scheduler that decouples sensing from inference and skips stale frames. On nuScenes, MM-BEV reduces inference latency by 1.96x and end-to-end latency by 2.93x, with no loss in geometry-critical recall and only a 0.2 percentage-point drop in safety-critical recall. On a Clearpath Husky A300 equipped with an Ouster-128 LiDAR, BEV cameras, and a Jetson AGX Orin, MM-BEV further reduces mean latency by 2.11x, demonstrating its potential for real-world autonomous systems.