mlsanityData to 7 Oct 2026

Predicting Semantic Map Representations from Images using Pyramid Occupancy Networks

arXiv 2003.13402 ↗First posted 30 Mar 2020cs.CVcited by 175

Not on the map. Why?

Abstract (arXiv)

Autonomous vehicles commonly rely on highly detailed birds-eye-view maps of their environment, which capture both static elements of the scene such as road layout as well as dynamic elements such as other cars and pedestrians. Generating these map representations on the fly is a complex multi-stage process which incorporates many important vision-based elements, including ground plane estimation, road segmentation and 3D object detection. In this work we present a simple, unified approach for estimating maps directly from monocular images using a single end-to-end deep learning architecture. For the maps themselves we adopt a semantic Bayesian occupancy grid framework, allowing us to trivially accumulate information over multiple cameras and timesteps. We demonstrate the effectiveness of our approach by evaluating against several challenging baselines on the NuScenes and Argoverse datasets, and show that we are able to achieve a relative improvement of 9.1% and 22.3% respectively compared to the best-performing existing method.

Key facts. Cited by 175 papers in the map (data through 7 Oct 2026). First posted on arXiv 30 Mar 2020.

Builds on

No reference list yet.

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 20; 2022: 36; 2023: 53; 2024: 41; 2025: 17; 2026: 8.

175 papers.

Sort:

By area:

  1. 2022BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representationcited by 844
  2. 2021BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-Viewcited by 711
  3. 2022TransFusion: Robust LiDAR-Camera Fusion for 3D Object Detection with Transformerscited by 464
  4. 2022ST-P3: End-to-end Vision-based Autonomous Driving via Spatial-Temporal Feature Learningcited by 365
  5. 2022BEVDet4D: Exploit Temporal Cues in Multi-camera 3D Object Detectioncited by 340
  6. 2021Categorical Depth Distribution Network for Monocular 3D Object Detectioncited by 326
  7. 2023Occ3D: A Large-Scale 3D Occupancy Prediction Benchmark for Autonomous Drivingcited by 325
  8. 2023OccFormer: Dual-path Transformer for Vision-based 3D Semantic Occupancy Predictioncited by 287
  9. 2021HDMapNet: An Online HD Map Construction and Evaluation Frameworkcited by 280
  10. 2022Cross-view Transformers for real-time Map-view Semantic Segmentationcited by 264
  11. 2022VectorMapNet: End-to-end Vectorized HD Map Learningcited by 243
  12. 2021FIERY: Future Instance Prediction in Bird's-Eye View from Surround Monocular Camerascited by 239
38 more
  1. 2021NEAT: Neural Attention Fields for End-to-End Autonomous Drivingcited by 174
  2. 2022M2BEV: Multi-Camera Joint 3D Detection and Segmentation with Unified Birds-Eye View Representationcited by 155
  3. 2022PolarFormer: Multi-camera 3D Object Detection with Polar Transformercited by 147
  4. 2023StreamMapNet: Streaming Mapping Network for Vectorized Online HD Map Constructioncited by 143
  5. 2022Simple-BEV: What Really Matters for Multi-Sensor BEV Perception?cited by 128
  6. 2022Vision-Centric BEV Perception: A Surveycited by 126
  7. 2022BEVSegFormer: Bird's Eye View Semantic Segmentation From Arbitrary Camera Rigscited by 123
  8. 2021Translating Images into Mapscited by 115
  9. 2021Structured Bird's-Eye-View Traffic Scene Understanding from Onboard Imagescited by 98
  10. 2022KING: Generating Safety-Critical Driving Scenarios for Robust Imitation via Kinematics Gradientscited by 95
  11. 2024SparseOcc: Rethinking Sparse Latent Representation for Vision-Based Semantic Occupancy Predictioncited by 94
  12. 2023OrienterNet: Visual Localization in 2D Public Maps with Neural Matchingcited by 84
  13. 2023CRN: Camera Radar Net for Accurate, Robust, Efficient 3D Perceptioncited by 81
  14. 2022Efficient and Robust 2D-to-BEV Representation Learning via Geometry-guided Kernel Transformercited by 80
  15. 2023Neural Map Prior for Autonomous Drivingcited by 68
  16. 2021Multi-Modal 3D Object Detection in Autonomous Driving: a Surveycited by 63
  17. 2022Waymo Open Dataset: Panoramic Video Panoptic Segmentationcited by 57
  18. 2023Online Map Vectorization for Autonomous Driving: A Rasterization Perspectivecited by 54
  19. 2023Graph-based Topology Reasoning for Driving Scenescited by 53
  20. 2024MGMap: Mask-Guided Learning for Online Vectorized HD Map Constructioncited by 52
  21. 2021Capturing Omni-Range Context for Omnidirectional Segmentationcited by 49
  22. 2021Bird's-Eye-View Panoptic Segmentation Using Monocular Frontal View Imagescited by 48
  23. 2022SliceMatch: Geometry-guided Aggregation for Cross-View Pose Estimationcited by 46
  24. 2023Boosting 3-DoF Ground-to-Satellite Camera Localization Accuracy via Geometry-Guided Cross-View Transformercited by 45
  25. 2023Localization Is All You Evaluate: Data Leakage in Online Mapping Datasets and How to Fix Itcited by 44
  26. 2022Learning Ego 3D Representation as Ray Tracingcited by 43
  27. 2023InstaGraM: Instance-level Graph Modeling for Vectorized HD Map Learningcited by 40
  28. 2022SuperFusion: Multilevel LiDAR-Camera Fusion for Long-Range HD Map Generationcited by 39
  29. 2023CAPE: Camera View Position Embedding for Multi-View 3D Object Detectioncited by 39
  30. 2022X-Align: Cross-Modal Cross-View Alignment for Bird's-Eye-View Segmentationcited by 38
  31. 2023SkyEye: Self-Supervised Bird's-Eye-View Semantic Mapping Using Monocular Frontal View Imagescited by 35
  32. 2021Topology Preserving Local Road Network Estimation from Single Onboard Camera Imagecited by 34
  33. 2022Surround-view Fisheye Camera Perception for Automated Driving: Overview, Survey and Challengescited by 33
  34. 2022Behavioral Intention Prediction in Driving Scenes: A Surveycited by 30
  35. 2023DiffBEV: Conditional Diffusion Model for Bird's Eye View Perceptioncited by 30
  36. 2023TBP-Former: Learning Temporal Bird's-Eye-View Pyramid for Joint Perception and Prediction in Vision-Centric Autonomous Drivingcited by 30
  37. 2022LaRa: Latents and Rays for Multi-Camera Bird's-Eye-View Semantic Segmentationcited by 29
  38. 2022MatrixVT: Efficient Multi-Camera to BEV Transformation for 3D Perceptioncited by 29

50 most cited of 175 All 175 (JSON)