mlsanityData to 14 Oct 2026

Monocular Plan View Networks for Autonomous Driving

arXiv 1905.06937 ↗First posted 16 May 2019cs.CV cs.ROcited by 37

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Abstract (arXiv)

Convolutions on monocular dash cam videos capture spatial invariances in the image plane but do not explicitly reason about distances and depth. We propose a simple transformation of observations into a bird's eye view, also known as plan view, for end-to-end control. We detect vehicles and pedestrians in the first person view and project them into an overhead plan view. This representation provides an abstraction of the environment from which a deep network can easily deduce the positions and directions of entities. Additionally, the plan view enables us to leverage advances in 3D object detection in conjunction with deep policy learning. We evaluate our monocular plan view network on the photo-realistic Grand Theft Auto V simulator. A network using both a plan view and front view causes less than half as many collisions as previous detection-based methods and an order of magnitude fewer collisions than pure pixel-based policies.

Key facts. Cited by 37 papers in the map (data through 14 Oct 2026). First posted on arXiv 16 May 2019.

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Citing papers per year: 2019: 1; 2020: 2; 2021: 10; 2022: 10; 2023: 7; 2024: 4; 2025: 3.

37 papers.

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  1. 2022TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Drivingcited by 485
  2. 2021Multi-Modal Fusion Transformer for End-to-End Autonomous Drivingcited by 377
  3. 2019Causal Confusion in Imitation Learningcited by 288
  4. 2021FIERY: Future Instance Prediction in Bird's-Eye View from Surround Monocular Camerascited by 239
  5. 2021End-to-End Urban Driving by Imitating a Reinforcement Learning Coachcited by 194
  6. 2021NEAT: Neural Attention Fields for End-to-End Autonomous Drivingcited by 174
  7. 2021Multimodal Virtual Point 3D Detectioncited by 166
  8. 2023DSVT: Dynamic Sparse Voxel Transformer with Rotated Setscited by 122
  9. 2021Translating Images into Mapscited by 115
  10. 2022PlanT: Explainable Planning Transformers via Object-Level Representationscited by 105
  11. 2024PLUTO: Pushing the Limit of Imitation Learning-based Planning for Autonomous Drivingcited by 84
  12. 2023Virtual Sparse Convolution for Multimodal 3D Object Detectioncited by 81
25 more
  1. 2023UniTR: A Unified and Efficient Multi-Modal Transformer for Bird's-Eye-View Representationcited by 74
  2. 2020Fighting Copycat Agents in Behavioral Cloning from Observation Historiescited by 71
  3. 2022CAGroup3D: Class-Aware Grouping for 3D Object Detection on Point Cloudscited by 58
  4. 2022RBGNet: Ray-based Grouping for 3D Object Detectioncited by 40
  5. 2023The Integration of Prediction and Planning in Deep Learning Automated Driving Systems: A Reviewcited by 29
  6. 2021Keyframe-Focused Visual Imitation Learningcited by 25
  7. 2023Rethinking Imitation-based Planner for Autonomous Drivingcited by 25
  8. 2021Learning by Watchingcited by 22
  9. 2022SelfD: Self-Learning Large-Scale Driving Policies From the Webcited by 18
  10. 2022Resolving Copycat Problems in Visual Imitation Learning via Residual Action Predictioncited by 14
  11. 2024BLOS-BEV: Navigation Map Enhanced Lane Segmentation Network, Beyond Line of Sightcited by 12
  12. 2022Boosting 3D Object Detection via Object-Focused Image Fusioncited by 11
  13. 2021DROID: Driver-centric Risk Object Identificationcited by 9
  14. 2020Driving Through Ghosts: Behavioral Cloning with False Positivescited by 8
  15. 2024CarFormer: Self-Driving with Learned Object-Centric Representationscited by 8
  16. 2021Causal Imitative Model for Autonomous Drivingcited by 7
  17. 2024M2DA: Multi-Modal Fusion Transformer Incorporating Driver Attention for Autonomous Drivingcited by 7
  18. 2022"The Pedestrian next to the Lamppost" Adaptive Object Graphs for Better Instantaneous Mappingcited by 4
  19. 2022Monocular BEV Perception of Road Scenes via Front-to-Top View Projectioncited by 4
  20. 2023I3DOD: Towards Incremental 3D Object Detection via Promptingcited by 3
  21. 2023Penalty-Based Imitation Learning With Cross Semantics Generation Sensor Fusion for Autonomous Drivingcited by 2
  22. 2022A Dual-Cycled Cross-View Transformer Network for Unified Road Layout Estimation and 3D Object Detection in the Bird's-Eye-Viewcited by 1
  23. 2025An object detection approach for lane change and overtake detection from motion profilescited by 0
  24. 2025What Do You Need for Compositional Generalization in Diffusion Planning?cited by 0
  25. 2025Scalable Offline Metrics for Autonomous Drivingcited by 0