{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,18]],"date-time":"2026-03-18T02:32:25Z","timestamp":1773801145975,"version":"3.50.1"},"reference-count":0,"publisher":"Association for the Advancement of Artificial Intelligence (AAAI)","issue":"4","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["AAAI"],"abstract":"<jats:p>Bird's Eye View (BEV) representation has become pivotal for autonomous driving, yet existing polar coordinate-based approaches face two critical limitations: (1) distant semantic misprojection caused by radial resolution decay, and (2) region-specific geometric distortions from non-uniform polar discretization. To address these issues, we propose a novel framework addressing these challenges through three key innovations. First, we present a bilateral heterogeneous network constructs multi-granularity BEV spaces, efficiently exploiting dual-resolution visual information for distant detail preservation. Second, we employ an align-fusion strategy for multi-granularity feature aggregation. Specifically, the Mamba-Based Cross-Resolution Alignment module establishes semantic consistency for perspective features through shared state-space optimization. In the later stage, the Adaptive BEV Space Selector dynamically aggregates multi-granularity BEV features. Third, we introduce a Mixture of Radial-Angular Decoupled Experts, which employs polar-aware expert routing to disentangle radial compression and angular shear distortions through specialized geometric refinement. Comprehensive experiments on nuScenes and Lyft L5 demonstrate the state-of-the-art performance of our model across various resolution settings, visibility filtering, and perception ranges.<\/jats:p>","DOI":"10.1609\/aaai.v40i4.37238","type":"journal-article","created":{"date-parts":[[2026,3,17]],"date-time":"2026-03-17T23:03:08Z","timestamp":1773788588000},"page":"2516-2524","source":"Crossref","is-referenced-by-count":0,"title":["Seeing in Double: Dual-Granularity BEV Segmentation via Mamba-Driven Alignment and Polar-Decoupled Experts"],"prefix":"10.1609","volume":"40","author":[{"given":"Jiaxin","family":"Cai","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Rui","family":"Lin","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jingze","family":"Su","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qi","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wenjie","family":"Yang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuanlong","family":"Yu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wenxi","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"9382","published-online":{"date-parts":[[2026,3,14]]},"container-title":["Proceedings of the AAAI Conference on Artificial Intelligence"],"original-title":[],"link":[{"URL":"https:\/\/ojs.aaai.org\/index.php\/AAAI\/article\/download\/37238\/41200","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/ojs.aaai.org\/index.php\/AAAI\/article\/download\/37238\/41200","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,3,17]],"date-time":"2026-03-17T23:03:08Z","timestamp":1773788588000},"score":1,"resource":{"primary":{"URL":"https:\/\/ojs.aaai.org\/index.php\/AAAI\/article\/view\/37238"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,3,14]]},"references-count":0,"journal-issue":{"issue":"4","published-online":{"date-parts":[[2026,3,17]]}},"URL":"https:\/\/doi.org\/10.1609\/aaai.v40i4.37238","relation":{},"ISSN":["2374-3468","2159-5399"],"issn-type":[{"value":"2374-3468","type":"electronic"},{"value":"2159-5399","type":"print"}],"subject":[],"published":{"date-parts":[[2026,3,14]]}}}