mlsanityData to 7 Oct 2026

Cross-view Semantic Segmentation for Sensing Surroundings

arXiv 1906.03560 ↗First posted 9 Jun 2019cs.CV eess.IVcited by 173

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Abstract (arXiv)

Sensing surroundings plays a crucial role in human spatial perception, as it extracts the spatial configuration of objects as well as the free space from the observations. To facilitate the robot perception with such a surrounding sensing capability, we introduce a novel visual task called Cross-view Semantic Segmentation as well as a framework named View Parsing Network (VPN) to address it. In the cross-view semantic segmentation task, the agent is trained to parse the first-view observations into a top-down-view semantic map indicating the spatial location of all the objects at pixel-level. The main issue of this task is that we lack the real-world annotations of top-down-view data. To mitigate this, we train the VPN in 3D graphics environment and utilize the domain adaptation technique to transfer it to handle real-world data. We evaluate our VPN on both synthetic and real-world agents. The experimental results show that our model can effectively make use of the information from different views and multi-modalities to understanding spatial information. Our further experiment on a LoCoBot robot shows that our model enables the surrounding sensing capability from 2D image input. Code and demo videos can be found at urlhttps://view-parsing-network.github.io.

Key facts. Cited by 173 papers in the map (data through 7 Oct 2026). First posted on arXiv 9 Jun 2019.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 15; 2022: 46; 2023: 49; 2024: 36; 2025: 18; 2026: 9.

173 papers.

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  1. 2022BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformerscited by 1,213
  2. 2022Planning-oriented Autonomous Drivingcited by 1,068
  3. 2022BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representationcited by 844
  4. 2021BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-Viewcited by 711
  5. 2022ST-P3: End-to-end Vision-based Autonomous Driving via Spatial-Temporal Feature Learningcited by 365
  6. 2022PETRv2: A Unified Framework for 3D Perception from Multi-Camera Imagescited by 351
  7. 2022BEVDet4D: Exploit Temporal Cues in Multi-camera 3D Object Detectioncited by 340
  8. 2021Categorical Depth Distribution Network for Monocular 3D Object Detectioncited by 326
  9. 2022BEVFormer v2: Adapting Modern Image Backbones to Bird's-Eye-View Recognition via Perspective Supervisioncited by 302
  10. 2021HDMapNet: An Online HD Map Construction and Evaluation Frameworkcited by 280
  11. 2022Cross-view Transformers for real-time Map-view Semantic Segmentationcited by 264
  12. 2022VectorMapNet: End-to-end Vectorized HD Map Learningcited by 243
38 more
  1. 2021FIERY: Future Instance Prediction in Bird's-Eye View from Surround Monocular Camerascited by 239
  2. 2022CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformerscited by 227
  3. 2022BEVerse: Unified Perception and Prediction in Birds-Eye-View for Vision-Centric Autonomous Drivingcited by 191
  4. 2021NEAT: Neural Attention Fields for End-to-End Autonomous Drivingcited by 174
  5. 2022M2BEV: Multi-Camera Joint 3D Detection and Segmentation with Unified Birds-Eye View Representationcited by 155
  6. 2023SparseBEV: High-Performance Sparse 3D Object Detection from Multi-Camera Videoscited by 149
  7. 2022PolarFormer: Multi-camera 3D Object Detection with Polar Transformercited by 147
  8. 2023DriveAdapter: Breaking the Coupling Barrier of Perception and Planning in End-to-End Autonomous Drivingcited by 142
  9. 2022Simple-BEV: What Really Matters for Multi-Sensor BEV Perception?cited by 128
  10. 2022Vision-Centric BEV Perception: A Surveycited by 126
  11. 2022BEVSegFormer: Bird's Eye View Semantic Segmentation From Arbitrary Camera Rigscited by 123
  12. 2022Delving into the Devils of Bird's-eye-view Perception: A Review, Evaluation and Recipecited by 122
  13. 2021Translating Images into Mapscited by 115
  14. 2021Structured Bird's-Eye-View Traffic Scene Understanding from Onboard Imagescited by 98
  15. 2022KING: Generating Safety-Critical Driving Scenarios for Robust Imitation via Kinematics Gradientscited by 95
  16. 2023PivotNet: Vectorized Pivot Learning for End-to-end HD Map Constructioncited by 84
  17. 2022Efficient and Robust 2D-to-BEV Representation Learning via Geometry-guided Kernel Transformercited by 80
  18. 2023End-to-End Vectorized HD-map Construction with Piecewise Bezier Curvecited by 80
  19. 2023Neural Map Prior for Autonomous Drivingcited by 68
  20. 2024P-MapNet: Far-seeing Map Generator Enhanced by both SDMap and HDMap Priorscited by 54
  21. 2023Graph-based Topology Reasoning for Driving Scenescited by 53
  22. 2024MGMap: Mask-Guided Learning for Online Vectorized HD Map Constructioncited by 52
  23. 2021Capturing Omni-Range Context for Omnidirectional Segmentationcited by 49
  24. 2021Bird's-Eye-View Panoptic Segmentation Using Monocular Frontal View Imagescited by 48
  25. 2022Learning Ego 3D Representation as Ray Tracingcited by 43
  26. 2023RoboBEV: Towards Robust Bird's Eye View Perception under Corruptionscited by 42
  27. 2023Online Vectorized HD Map Construction using Geometrycited by 42
  28. 2023DistillBEV: Boosting Multi-Camera 3D Object Detection with Cross-Modal Knowledge Distillationcited by 41
  29. 2023InstaGraM: Instance-level Graph Modeling for Vectorized HD Map Learningcited by 40
  30. 2024Cross-view image geo-localization with Panorama-BEV Co-Retrieval Networkcited by 40
  31. 2022SuperFusion: Multilevel LiDAR-Camera Fusion for Long-Range HD Map Generationcited by 39
  32. 2022X-Align: Cross-Modal Cross-View Alignment for Bird's-Eye-View Segmentationcited by 38
  33. 2023SkyEye: Self-Supervised Bird's-Eye-View Semantic Mapping Using Monocular Frontal View Imagescited by 35
  34. 2021Transfer beyond the Field of View: Dense Panoramic Semantic Segmentation via Unsupervised Domain Adaptationcited by 34
  35. 2021Topology Preserving Local Road Network Estimation from Single Onboard Camera Imagecited by 34
  36. 2023DiffBEV: Conditional Diffusion Model for Bird's Eye View Perceptioncited by 30
  37. 2023TBP-Former: Learning Temporal Bird's-Eye-View Pyramid for Joint Perception and Prediction in Vision-Centric Autonomous Drivingcited by 30
  38. 2022LaRa: Latents and Rays for Multi-Camera Bird's-Eye-View Semantic Segmentationcited by 29

50 most cited of 173 All 173 (JSON)