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Cross-view Transformers for real-time Map-view Semantic Segmentation

https://doi.org/10.1109/cvpr52688.2022.01339

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What this work says

Outgoing claims: the papers this work cites, builds on, or argues with.

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Atlas: End-to-End 3D Scene Reconstruction from Posed Images

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Building Rome on a Cloudless Day

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Are we ready for autonomous driving? The KITTI vision benchmark suite

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Structure-from-Motion Revisited

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PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation

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Unsupervised Monocular Depth Estimation with Left-Right Consistency

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Unsupervised Learning of Depth and Ego-Motion from Video

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Deep Ordinal Regression Network for Monocular Depth Estimation

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Multi-level Fusion Based 3D Object Detection from Monocular Images

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ROI-10D: Monocular Lifting of 2D Detection to 6D Pose and Metric Shape

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Pseudo-LiDAR From Visual Depth Estimation: Bridging the Gap in 3D Object Detection for Autonomous Driving

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Argoverse: 3D Tracking and Forecasting With Rich Maps

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PointPillars: Fast Encoders for Object Detection From Point Clouds

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Scalability in Perception for Autonomous Driving: Waymo Open Dataset

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PointPainting: Sequential Fusion for 3D Object Detection

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nuScenes: A Multimodal Dataset for Autonomous Driving

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Accurate Monocular 3D Object Detection via Color-Embedded 3D Reconstruction for Autonomous Driving

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Monocular 3D Object Detection with Pseudo-LiDAR Point Cloud

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Enabling spatio-temporal aggregation in Birds-Eye-View Vehicle Estimation

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Automatic dense visual semantic mapping from street-level imagery

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Monocular 3D Vehicle Detection Using Uncalibrated Traffic Cameras through Homography

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Deep Learning based Vehicle Position and Orientation Estimation via Inverse Perspective Mapping Image

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Monocular Semantic Occupancy Grid Mapping With Convolutional Variational Encoder–Decoder Networks

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Cross-View Semantic Segmentation for Sensing Surroundings

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Mono Lay out: Amodal scene layout from a single image

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Building Rome in a day

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Exploiting Generative AI to Scale up Intelligent Tutoring Systems

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Depth Map Prediction from a Single Image using a Multi-Scale Deep Network

inferredcites →https://doi.org/10.48550/arxiv.1711.05101openalex-snapshot

Decoupled Weight Decay Regularization

inferredcites →https://doi.org/10.48550/arxiv.2006.10739openalex-snapshot

Fourier Features Let Networks Learn High Frequency Functions in Low Dimensional Domains

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What points at this work

Incoming claims: where this work appears in other papers’ reference lists and arguments.

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OneBEV: Using One Panoramic Image for Bird’s-Eye-View Semantic Mapping

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Bird’s Eye View Perception for Autonomous Driving

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L2T-BEV: Local Lane Topology Prediction from Onboard Surround-View Cameras in Bird’s Eye View Perspective

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X-Align++: cross-modal cross-view alignment for Bird’s-eye-view segmentation

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LS-Occ:light specific-target-focus vision-based 3D occupancy prediction with adaptive combined head

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PANet: Pluralistic Attention Network for Few-Shot Image Classification

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End-to-End Online Vectorized Map Construction With Confidence Estimates

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Consistent View Synthesis with Pose-Guided Diffusion Models

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BEVFormer v2: Adapting Modern Image Backbones to Bird's-Eye-View Recognition via Perspective Supervision

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CAPE: Camera View Position Embedding for Multi-View 3D Object Detection

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Uncertainty-Aware Vision-Based Metric Cross-View Geolocalization

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BEV-Guided Multi-Modality Fusion for Driving Perception

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SeaBird: Segmentation in Bird's View with Dice Loss Improves Monocular 3D Detection of Large Objects

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PointBeV: A Sparse Approach to BeV Predictions

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HIMap: HybrId Representation Learning for End-to-end Vectorized HD Map Construction

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Improving Bird's Eye View Semantic Segmentation by Task Decomposition

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PanoOcc: Unified Occupancy Representation for Camera-based 3D Panoptic Segmentation

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Localization is All You Evaluate: Data Leakage in Online Mapping Datasets and How to Fix it

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DS-NeRV: Implicit Neural Video Representation with Decomposed Static and Dynamic Codes

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Generative Map Priors for Collaborative BEV Semantic Segmentation

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InteractionMap: Improving Online Vectorized HDMap Construction with Interaction

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OccFeat: Self-supervised Occupancy Feature Prediction for Pretraining BEV Segmentation Networks

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Exploring Semi-Supervised Learning for Online Mapping

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DuoSpaceNet: Leveraging Both Bird's-Eye-View and Perspective View Representations for 3D Object Detection

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CoBEVFusion Cooperative Perception with LiDAR-Camera Bird's Eye View Fusion

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Spatiotemporal BEV Pyramid Networks for Future Instance Prediction of Autonomous Driving

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TransFuseGrid: Transformer-based Lidar-RGB fusion for semantic grid prediction

inferred← citeshttps://doi.org/10.1109/icarcv63323.2024.10821590openalex-snapshot

BEVal: A Cross-dataset Evaluation Study of BEV Segmentation Models for Autonomous Driving

inferred← citeshttps://doi.org/10.1109/iccv51070.2023.00302openalex-snapshot

PETRv2: A Unified Framework for 3D Perception from Multi-Camera Images

inferred← citeshttps://doi.org/10.1109/iccv51070.2023.00351openalex-snapshot

Object as Query: Lifting any 2D Object Detector to 3D Detection

inferred← citeshttps://doi.org/10.1109/iccv51070.2023.00625openalex-snapshot

UniTR: A Unified and Efficient Multi-Modal Transformer for Bird’s-Eye-View Representation

inferred← citeshttps://doi.org/10.1109/iccv51070.2023.00756openalex-snapshot

MapPrior: Bird’s-Eye View Map Layout Estimation with Generative Models

inferred← citeshttps://doi.org/10.1109/iccv51070.2023.00766openalex-snapshot

VAD: Vectorized Scene Representation for Efficient Autonomous Driving

inferred← citeshttps://doi.org/10.1109/iccv51070.2023.00782openalex-snapshot

Towards Viewpoint Robustness in Bird’s Eye View Segmentation

inferred← citeshttps://doi.org/10.1109/iccv51070.2023.00789openalex-snapshot

Improving Online Lane Graph Extraction by Object-Lane Clustering

inferred← citeshttps://doi.org/10.1109/iccv51070.2023.00865openalex-snapshot

OccFormer: Dual-path Transformer for Vision-based 3D Semantic Occupancy Prediction

inferred← citeshttps://doi.org/10.1109/iccv51070.2023.01615openalex-snapshot

CRN: Camera Radar Net for Accurate, Robust, Efficient 3D Perception

inferred← citeshttps://doi.org/10.1109/iccv51070.2023.01967openalex-snapshot

Boosting 3-DoF Ground-to-Satellite Camera Localization Accuracy via Geometry-Guided Cross-View Transformer

inferred← citeshttps://doi.org/10.1109/iccv51070.2023.01987openalex-snapshot

DDP: Diffusion Model for Dense Visual Prediction

inferred← citeshttps://doi.org/10.1109/iccv51070.2023.02160openalex-snapshot

DISeR: Designing Imaging Systems with Reinforcement Learning

inferred← citeshttps://doi.org/10.1109/iccv51701.2025.00500openalex-snapshot

PseudoMapTrainer: Learning Online Mapping without HD Maps

inferred← citeshttps://doi.org/10.1109/iccv51701.2025.01340openalex-snapshot

NoiseController: Towards Consistent Multi-View Video Generation via Noise Decomposition and Collaboration

inferred← citeshttps://doi.org/10.1109/iccv51701.2025.02441openalex-snapshot

PerLDiff: Controllable Street View Synthesis Using Perspective-Layout Diffusion Model

inferred← citeshttps://doi.org/10.1109/iccv51701.2025.02612openalex-snapshot

MagicDrive-V2: High-Resolution Long Video Generation for Autonomous Driving with Adaptive Control

inferred← citeshttps://doi.org/10.1109/iccvw69036.2025.00475openalex-snapshot

From Static to Dynamic: A Survey of Topology-Aware Perception in Autonomous Driving

inferred← citeshttps://doi.org/10.1109/icdcsw72724.2026.00032openalex-snapshot

Scene Complexity-Aware Adaptive Batch Separation for Robust Camera-based BEV Perception

inferred← citeshttps://doi.org/10.1109/icia64617.2025.11277517openalex-snapshot

Multi-Drone Collaborative Target Recognition Based on Visual Association

inferred← citeshttps://doi.org/10.1109/icme59968.2025.11209106openalex-snapshot

AdaptiveFusion: LiDAR-Camera Adaptive Fusion for 3D Object Detection

inferred← citeshttps://doi.org/10.1109/icme59968.2025.11209387openalex-snapshot

BEV-MMC: Bird’s-Eye-View-Based Multimodal Compression for Enhanced Visual Recognition

inferred← citeshttps://doi.org/10.1109/icpeca56706.2023.10076001openalex-snapshot

Semantic segmentation of vehicle vision based on two-branch Enet network

inferred← citeshttps://doi.org/10.1109/icra48891.2023.10160757openalex-snapshot

LAPTNet-FPN: Multi-Scale LiDAR-Aided Projective Transform Network for Real Time Semantic Grid Prediction

inferred← citeshttps://doi.org/10.1109/icra48891.2023.10160831openalex-snapshot

Simple-BEV: What Really Matters for Multi-Sensor BEV Perception?

inferred← citeshttps://doi.org/10.1109/icra48891.2023.10160968openalex-snapshot

BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representation

inferred← citeshttps://doi.org/10.1109/icra48891.2023.10161214openalex-snapshot

HFT: Lifting Perspective Representations via Hybrid Feature Transformation for BEV Perception

inferred← citeshttps://doi.org/10.1109/icra48891.2023.10161331openalex-snapshot

Efficient and Hybrid Decoder for Local Map Construction in Bird'-Eye-View

inferred← citeshttps://doi.org/10.1109/icra48891.2023.10161442openalex-snapshot

MonoPGC: Monocular 3D Object Detection with Pixel Geometry Contexts

inferred← citeshttps://doi.org/10.1109/icra48891.2023.10161451openalex-snapshot

CrossDTR: Cross-view and Depth-guided Transformers for 3D Object Detection

inferred← citeshttps://doi.org/10.1109/icra48891.2023.10161508openalex-snapshot

CenterLineDet: CenterLine Graph Detection for Road Lanes with Vehicle-mounted Sensors by Transformer for HD Map Generation

inferred← citeshttps://doi.org/10.1109/icra55743.2025.11127463openalex-snapshot

DreamDrive: Generative 4D Scene Modeling from Street View Images

inferred← citeshttps://doi.org/10.1109/icra55743.2025.11128068openalex-snapshot

Dualdiff: Dual-Branch Diffusion Model for Autonomous Driving with Semantic Fusion

inferred← citeshttps://doi.org/10.1109/icra57147.2024.10609873openalex-snapshot

MBFusion: A New Multi-modal BEV Feature Fusion Method for HD Map Construction

inferred← citeshttps://doi.org/10.1109/icra57147.2024.10610334openalex-snapshot

DualAT: Dual Attention Transformer for End-to-End Autonomous Driving

inferred← citeshttps://doi.org/10.1109/icra57147.2024.10610625openalex-snapshot

FastOcc: Accelerating 3D Occupancy Prediction by Fusing the 2D Bird’s-Eye View and Perspective View

inferred← citeshttps://doi.org/10.1109/icra57147.2024.10610946openalex-snapshot

BroadBEV: Collaborative LiDAR-camera Fusion for Broad-sighted Bird’s Eye View Map Construction

inferred← citeshttps://doi.org/10.1109/icra57147.2024.10610997openalex-snapshot

ActFormer: Scalable Collaborative Perception via Active Queries

inferred← citeshttps://doi.org/10.1109/icra57147.2024.10611167openalex-snapshot

A Vision-Centric Approach for Static Map Element Annotation

inferred← citeshttps://doi.org/10.1109/icra57147.2024.10611235openalex-snapshot

From Bird’s-Eye to Street View: Crafting Diverse and Condition-Aligned Images with Latent Diffusion Model

inferred← citeshttps://doi.org/10.1109/icra57147.2024.10611261openalex-snapshot

MonoOcc: Digging into Monocular Semantic Occupancy Prediction

inferred← citeshttps://doi.org/10.1109/icra57147.2024.10611420openalex-snapshot

Semi-Supervised Learning for Visual Bird’s Eye View Semantic Segmentation

inferred← citeshttps://doi.org/10.1109/icra57147.2024.10611611openalex-snapshot

Complementing Onboard Sensors with Satellite Maps: A New Perspective for HD Map Construction

inferred← citeshttps://doi.org/10.1109/ictc66702.2025.11388697openalex-snapshot

Regularizing Neural Networks for BEV Semantic Segmentation via Inter-class Hierarchy and Spatially-aware Weight Adjustment

inferred← citeshttps://doi.org/10.1109/ijcnn60899.2024.10650510openalex-snapshot

Sensor Fusion and Motion Planning with Unified Bird’s-Eye View Representation for End-to-end Autonomous Driving

inferred← citeshttps://doi.org/10.1109/ijcnn60899.2024.10651302openalex-snapshot

ATV3D: 3D Object Detection from Attention-based Three-view Representation

inferred← citeshttps://doi.org/10.1109/iros55552.2023.10341620openalex-snapshot

Sparse Dense Fusion for 3D Object Detection

inferred← citeshttps://doi.org/10.1109/iros55552.2023.10342486openalex-snapshot

Holistic Parking Slot Detection with Polygon-Shaped Representations

inferred← citeshttps://doi.org/10.1109/iros58592.2024.10801302openalex-snapshot

LiDAR-based 4D Occupancy Completion and Forecasting

inferred← citeshttps://doi.org/10.1109/iros58592.2024.10801350openalex-snapshot

PCT: Perspective Cue Training Framework for Multi-Camera BEV Segmentation

inferred← citeshttps://doi.org/10.1109/iros58592.2024.10801357openalex-snapshot

Progressive Query Refinement Framework for Bird's-Eye-View Semantic Segmentation from Surrounding Images

inferred← citeshttps://doi.org/10.1109/iros58592.2024.10801387openalex-snapshot

EgoVM: Achieving Precise Ego-Localization using Lightweight Vectorized Maps

inferred← citeshttps://doi.org/10.1109/iros58592.2024.10801390openalex-snapshot

BEVPose: Unveiling Scene Semantics through Pose-Guided Multi-Modal BEV Alignment

inferred← citeshttps://doi.org/10.1109/iros58592.2024.10801452openalex-snapshot

WidthFormer: Toward Efficient Transformer-based BEV View Transformation

inferred← citeshttps://doi.org/10.1109/iros58592.2024.10802038openalex-snapshot

Real-time Bird’s-Eye-View Panoptic Segmentation for Monocular-based Indoor Navigation

inferred← citeshttps://doi.org/10.1109/iros58592.2024.10802147openalex-snapshot

BEVCar: Camera-Radar Fusion for BEV Map and Object Segmentation

inferred← citeshttps://doi.org/10.1109/iros58592.2024.10802787openalex-snapshot

U-BEV: Height-aware Bird’s-Eye-View Segmentation and Neural Map-based Relocalization

inferred← citeshttps://doi.org/10.1109/iros58592.2024.10802840openalex-snapshot

Robust Multi-Camera BEV Perception: An Image-Perceptive Approach to Counter Imprecise Camera Calibration

inferred← citeshttps://doi.org/10.1109/iros60139.2025.11246548openalex-snapshot

Learning to Generate Vectorized Maps at Intersections with Multiple Roadside Cameras

inferred← citeshttps://doi.org/10.1109/iros60139.2025.11246664openalex-snapshot

GTAD: Global Temporal Aggregation Denoising Learning for 3D Semantic Occupancy Prediction

inferred← citeshttps://doi.org/10.1109/iros60139.2025.11246853openalex-snapshot

SparseMeXt: Unlocking the Potential of Sparse Representations for HD Map Construction

inferred← citeshttps://doi.org/10.1109/iros60139.2025.11246952openalex-snapshot

RoCaRS: Robust Camera-Radar BEV Segmentation for Sensor Failure Scenarios

inferred← citeshttps://doi.org/10.1109/iros60139.2025.11247319openalex-snapshot

HeightAware-BEV: Height-Aware Feature Mapping for Efficient Bird’s-Eye-View Perception

inferred← citeshttps://doi.org/10.1109/iros60139.2025.11247353openalex-snapshot

Coherent Online Road Topology Estimation and Reasoning with Standard-Definition Maps

inferred← citeshttps://doi.org/10.1109/iros60139.2025.11247407openalex-snapshot

ET-Former: Efficient Triplane Deformable Attention for 3D Semantic Scene Completion From Monocular Camera

inferred← citeshttps://doi.org/10.1109/itsc57777.2023.10421898openalex-snapshot

Online Lane Graph Extraction from Onboard Video

inferred← citeshttps://doi.org/10.1109/itsc57777.2023.10422171openalex-snapshot

Prior Based Online Lane Graph Extraction from Single Onboard Camera Image

inferred← citeshttps://doi.org/10.1109/itsc58415.2024.10919575openalex-snapshot

QuadBEV: An Efficient Quadruple-Task Perception Framework via Birds'-Eye-View Representation

inferred← citeshttps://doi.org/10.1109/itsc58415.2024.10919729openalex-snapshot

A Resource Efficient Fusion Network for Object Detection in Bird's-Eye View using Camera and Raw Radar Data

inferred← citeshttps://doi.org/10.1109/itsc58415.2024.10920182openalex-snapshot

Learning Content-Aware Multi-Modal Joint Input Pruning via Birds'-Eye-View Representation

inferred← citeshttps://doi.org/10.1109/itsc58415.2024.10920257openalex-snapshot

Occlusion Handling and SD Map Fusion for Online Map Generation

inferred← citeshttps://doi.org/10.1109/itsc60802.2025.11423030openalex-snapshot

REFNet++: Multi-Task Efficient Fusion of Camera and Radar Sensor Data in Bird's-Eye Polar View

inferred← citeshttps://doi.org/10.1109/iv55156.2024.10588440openalex-snapshot

Enhancing Motion Prediction by a Cooperative Framework

inferred← citeshttps://doi.org/10.1109/iv55156.2024.10588460openalex-snapshot

TLCFuse: Temporal Multi-Modality Fusion Towards Occlusion-Aware Semantic Segmentation

inferred← citeshttps://doi.org/10.1109/iv55156.2024.10588479openalex-snapshot

Pix2Planning: End-to-End Planning by Vision-language Model for Autonomous Driving on Carla Simulator

inferred← citeshttps://doi.org/10.1109/iv55156.2024.10588482openalex-snapshot

BLOS-BEV: Navigation Map Enhanced Lane Segmentation Network, Beyond Line of Sight

inferred← citeshttps://doi.org/10.1109/iv55156.2024.10588551openalex-snapshot

E2E Parking: Autonomous Parking by the End-to-end Neural Network on the CARLA Simulator

inferred← citeshttps://doi.org/10.1109/iv55156.2024.10588608openalex-snapshot

Unlocking Past Information: Temporal Embeddings in Cooperative Bird’s Eye View Prediction

inferred← citeshttps://doi.org/10.1109/iv55156.2024.10588612openalex-snapshot

E-MLP: Effortless Online HD Map Construction with Linear Priors

inferred← citeshttps://doi.org/10.1109/iv55156.2024.10588825openalex-snapshot

ICOP: Image-based Cooperative Perception for End-to-End Autonomous Driving

inferred← citeshttps://doi.org/10.1109/iv64158.2025.11097695openalex-snapshot

A Benchmark for Vision-Centric HD Mapping by V2I Systems

inferred← citeshttps://doi.org/10.1109/iv66570.2026.11624088openalex-snapshot

PlanFlow: Local trajectory planning for autonomous driving using Flow-guided occupancy grids

inferred← citeshttps://doi.org/10.1109/jiot.2024.3379471openalex-snapshot

BEVSOC: Self-Supervised Contrastive Learning for Calibration-Free BEV 3-D Object Detection

inferred← citeshttps://doi.org/10.1109/jiot.2026.3654005openalex-snapshot

Deep Learning for 3-D Lane Detection in Autonomous Driving: A Survey

inferred← citeshttps://doi.org/10.1109/jsen.2024.3444816openalex-snapshot

Accurate and Robust Roadside 3-D Object Detection Based on Height-Aware Scene Reconstruction

inferred← citeshttps://doi.org/10.1109/jsen.2025.3579020openalex-snapshot

DMPG-BEV: Diffusion Model-Based Point Clouds Features Generation for Efficient Camera-Based BEV Perception

inferred← citeshttps://doi.org/10.1109/jsen.2025.3583383openalex-snapshot

A Novel Multiview LiDAR Calibration Method and Its Application in Multiplayer Tracking System

inferred← citeshttps://doi.org/10.1109/jstars.2026.3655152openalex-snapshot

MultiSight: A Vision-Language Model for Collaborative Understanding of Multiview Remote Sensing Images

inferred← citeshttps://doi.org/10.1109/lgrs.2026.3734713openalex-snapshot

Map Construction With Multiobservation on Geographic Perspective

inferred← citeshttps://doi.org/10.1109/lra.2022.3221335openalex-snapshot

ViewBirdiformer: Learning to Recover Ground-Plane Crowd Trajectories and Ego-Motion From a Single Ego-Centric View

inferred← citeshttps://doi.org/10.1109/lra.2023.3313932openalex-snapshot

Bi-Mapper: Holistic BEV Semantic Mapping for Autonomous Driving

inferred← citeshttps://doi.org/10.1109/lra.2024.3368234openalex-snapshot

Street-View Image Generation From a Bird's-Eye View Layout

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