mlsanityData to 7 Oct 2026

S-BEV: Semantic Birds-Eye View Representation for Weather and Lighting Invariant 3-DoF Localization

arXiv 2101.09569 ↗First posted 23 Jan 2021cs.CV cs.LG cs.ROcited by 3

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Abstract (arXiv)

We describe a light-weight, weather and lighting invariant, Semantic Bird's Eye View (S-BEV) signature for vision-based vehicle re-localization. A topological map of S-BEV signatures is created during the first traversal of the route, which are used for coarse localization in subsequent route traversal. A fine-grained localizer is then trained to output the global 3-DoF pose of the vehicle using its S-BEV and its coarse localization. We conduct experiments on vKITTI2 virtual dataset and show the potential of the S-BEV to be robust to weather and lighting. We also demonstrate results with 2 vehicles on a 22 km long highway route in the Ford AV dataset.

Key facts. Cited by 3 papers in the map (data through 7 Oct 2026). Builds on 14 of its 24 references that are in the map. First posted on arXiv 23 Jan 2021.

Builds on

14 of 24 references.

References · 14

  1. 2017SuperPoint: Self-Supervised Interest Point Detection and Descriptioncited by 1,313
  2. 2014Depth Map Prediction from a Single Image using a Multi-Scale Deep Networkcited by 1,264
  3. 2016Semantic Understanding of Scenes through the ADE20K Datasetcited by 1,063
  4. 2018From Coarse to Fine: Robust Hierarchical Localization at Large Scalecited by 556
  5. 2020Virtual KITTI 2cited by 345
  6. 2016Virtual Worlds as Proxy for Multi-Object Tracking Analysiscited by 340
  7. 2016DeMoN: Depth and Motion Network for Learning Monocular Stereocited by 200
  8. 2017UnDeepVO: Monocular Visual Odometry through Unsupervised Deep Learningcited by 95
  9. 2017Semantic Visual Localizationcited by 54
  10. 2020Ford Multi-AV Seasonal Datasetcited by 39
  11. 2020BEV-Seg: Bird's Eye View Semantic Segmentation Using Geometry and Semantic Point Cloudcited by 38
  12. 2020Delta Descriptors: Change-Based Place Representation for Robust Visual Localizationcited by 21
2 more
  1. 2018Long-term Visual Localization using Semantically Segmented Imagescited by 15
  2. 2020Deep-Geometric 6 DoF Localization from a Single Image in Topo-metric Mapscited by 2

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Cited by year

Citing papers per year: 2022: 2; 2023: 1.

3 papers.

  1. 2022CVLNet: Cross-View Semantic Correspondence Learning for Video-based Camera Localizationcited by 25
  2. 2022Improving Worst Case Visual Localization Coverage via Place-specific Sub-selection in Multi-camera Systemscited by 5
  3. 2023Stereo Visual Odometry with Deep Learning-Based Point and Line Feature Matching using an Attention Graph Neural Networkcited by 3