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Abstract: Recent works in autonomous driving have widely adopted the bird’s-eye-view (BEV) semantic map as an intermediate representation of the world. Online prediction of these BEV maps involves non-trivial operations such as multi-camera data extraction as well as fusion and projection into a common top-view grid.
Sep 9, 2023 · Article PDF Available. A multi‐stage model for bird's eye view prediction based on stereo‐matching model and RGB‐D semantic segmentation. April 2023. IET Intelligent Transport Systems. DOI:...
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What is a birds-eye-view semantic map?
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What is Birds-Eye-View (BEV) semantic segmentation?
Introduction. BEV perception for autonomous driving is a fast-growing field, with the goal of learning a cross-view repre-sentation that transforms information between the perspec-tive and bird’s-eye view. Such representation can be used in downstream tasks such as path planning and trajectory forecasting [1, 55].
Jan 1, 2010 · essence of a bird as ‘‘a wing guided by an eye.’’. Both in. popular imagination and in science, the phrase unites. the defining characteristics of birds, flight with vision. as the primary ...
- Overview
- Geometry-Guided Pre-Alignment
- Ray-Based Transformer
- Loss Functions
The goal of our network is to predict the semantic map of the scene on the birds-eye-view space from a monocular perspective image. The challenge of predicting the BEV semantic map lies in that the input and output representations exist in different spaces and thus the network is acquired to learn the transformation from perspective image view to o...
In this section, we introduce the first stage, i.e., the Geometry-guided Pre-Alignment module. We first present the geometric relation between the perspective view and BEV. Then we detail the consistency between image features and projected BEV labels, and describe our visibility-aware feature learning method. Finally, we describe geometry-based wa...
The second step of our two-stage transformation pipeline is the ray-based transformer, which is depicted in the Fig. 3. In this stage, we extend the common multi-head attention into our Ray-based Transformer (RT). The multi-head attention needs three inputs of queries \\((\\boldsymbol{Q})\\), keys \\((\\boldsymbol{K})\\), and values \\((\\boldsymbol{V})\\)...
The Dice loss is commonly adopted in segmentation for alleviating the data imbalance problem. The GT semantic label of i-th pixel in the BEV map is [\\(y_i1\\), \\(y_i2\\),..., \\(y_iC\\)], and the predicted probability is [\\(p_i1\\), \\(p_i2\\),..., \\(p_iC\\)], where \\(y_ik \\in \\{0, 1\\}\\) and \\(p_ik \\in [0, 1]\\), and Cis the number of classes. The dice loss...
BIRD’S EYE VIEW S ome years ago, several ABC staff were mulling over ways to prevent incursions into our Latin American partners’ forest reserves for wood-cutting and poach-ing. Finally, someone exclaimed, “The best defense could be a good offense,” meaning that if we funded reserve neighbors to plant trees on
Apr 11, 2023 · ORIGINAL RESEARCH. Open Access. A multi-stage model for bird's eye view prediction based on stereo-matching model and RGB-D semantic segmentation. Zhongyu Rao, Yingfeng Cai, Hai Wang, Long Chen, Yicheng Li. First published: 11 April 2023. https://doi.org/10.1049/itr2.12367. Sections. Tools. Abstract.
