FishRoPE: Projective Rotary Position Embeddings for Omnidirectional Visual Perception

arXiv:2604.10391v1 Announce Type: cross Abstract: Vision foundation models (VFMs) and Bird's Eye View (BEV) representation have advanced visual perception substantially, yet their internal spatial representations assume the rectilinear geometry of pinhole cameras. Fisheye cameras, widely deployed on production autonomous vehicles for their surround-view coverage, exhibit severe radial distortion that renders these representations geometrically inconsistent. At the same time, the scarcity of larg