Monocular BEV Perception of Road Scenes Via Front-to-Top View Projection
2024
Source PublicationIEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE
ISSN1939-3539
EISSN1939-3539
VolumePPIssue:99Pages:1-17
Status已发表
DOI10.1109/TPAMI.2024.3377812
AbstractHD map reconstruction is crucial for autonomous driving. LiDAR-based methods are limited due to expensive sensors and time-consuming computation. Camera-based methods usually need to perform road segmentation and view transformation separately, which often causes distortion and missing content. To push the limits of the technology, we present a novel framework that reconstructs a local map formed by road layout and vehicle occupancy in the bird's-eye view given a front-view monocular image only. We propose a front-to-top view projection (FTVP) module, which takes the constraint of cycle consistency between views into account and makes full use of their correlation to strengthen the view transformation and scene understanding. In addition, we apply multi-scale FTVP modules to propagate the rich spatial information of low-level features to mitigate spatial deviation of the predicted object location. Experiments on public benchmarks show that our method achieves various tasks on road layout estimation, vehicle occupancy estimation, and multi-class semantic estimation, at a performance level comparable to the state-of-the-arts, while maintaining superior efficiency. IEEE
KeywordAutonomous driving BEV perception segmentation Autonomous vehicles Benchmarking Feature extraction Job analysis Roads and streets Semantics Features extraction Layout Road Segmentation Task analysis Three-dimensional display Top views Transformer
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Indexed ByEI ; SCI
Language英语
Funding ProjectNational Natural Science Foundation of China["62072110","U21A20471","U21A20472"]
WOS Research AreaComputer Science ; Engineering
WOS SubjectComputer Science, Artificial Intelligence ; Engineering, Electrical & Electronic
WOS IDWOS:001290498900007
PublisherIEEE Computer Society
EI Accession Number20241315813803
EI KeywordsThree dimensional displays
EI Classification Number406.2 Roads and Streets ; 432 Highway Transportation ; 722.2 Computer Peripheral Equipment ; 731.6 Robot Applications
Original Document TypeArticle in Press
Source DataIEEE
Document Type期刊论文
Identifierhttps://kms.shanghaitech.edu.cn/handle/2MSLDSTB/354975
Collection信息科学与技术学院_PI研究组_马月昕
Affiliation
1.College of Computer and Data Science, Fuzhou University, China
2.ShanghaiTech University, China
3.Singapore Management University, Singapore
4.University of Hong Kong, HKSAR, Hong Kong
Recommended Citation
GB/T 7714
Wenxi Liu,Qi Li,Weixiang Yang,et al. Monocular BEV Perception of Road Scenes Via Front-to-Top View Projection[J]. IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE,2024,PP(99):1-17.
APA Wenxi Liu.,Qi Li.,Weixiang Yang.,Jiaxin Cai.,Yuanlong Yu.,...&Jia Pan.(2024).Monocular BEV Perception of Road Scenes Via Front-to-Top View Projection.IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE,PP(99),1-17.
MLA Wenxi Liu,et al."Monocular BEV Perception of Road Scenes Via Front-to-Top View Projection".IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE PP.99(2024):1-17.
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