Jiang, Y., L. Zhang, Z. Miao, X. Zhu, J. Gao, W. Hu, and Y.-G. Jiang. “PolarFormer: Multi-Camera 3D Object Detection With Polar Transformer”. Proceedings of the AAAI Conference on Artificial Intelligence, vol. 37, no. 1, June 2023, pp. 1042-50, doi:10.1609/aaai.v37i1.25185.