# Vision-based Driver Assistance Systems: Survey, Taxonomy and Advances

arXiv: https://arxiv.org/abs/2104.12583 · HTML: https://mlsanity.com/paper/2104.12583/

## Key facts

- Cited by 10 papers in the map (data through 14 Oct 2026).
- Builds on 1 of its 34 references that are in the map.
- First posted on arXiv 26 Apr 2021.

## Builds on (most cited first, 1 of 1)

- [End-to-End Training of Deep Visuomotor Policies](https://mlsanity.com/paper/1504.00702/) (2015)

## Built on by (most cited first, 10 of 10)

- [Spatio-Contextual Deep Network Based Multimodal Pedestrian Detection For Autonomous Driving](https://mlsanity.com/paper/2105.12713/) (2021)
- [F2BEV: Bird's Eye View Generation from Surround-View Fisheye Camera Images for Automated Driving](https://mlsanity.com/paper/2303.03651/) (2023)
- [Development and testing of an image transformer for explainable autonomous driving systems](https://mlsanity.com/paper/2110.05559/) (2021)
- [Approaching Outside: Scaling Unsupervised 3D Object Detection from 2D Scene](https://mlsanity.com/paper/2407.08569/) (2024)
- [BEV-MODNet: Monocular Camera based Bird's Eye View Moving Object Detection for Autonomous Driving](https://mlsanity.com/paper/2107.04937/) (2021)
- [DeepIPCv2: LiDAR-powered Robust Environmental Perception and Navigational Control for Autonomous Vehicle](https://mlsanity.com/paper/2307.06647/) (2023)
- [LOID: Lane Occlusion Inpainting and Detection for Enhanced Autonomous Driving Systems](https://mlsanity.com/paper/2408.09117/) (2024)
- [VideoGAN-based Trajectory Proposal for Automated Vehicles](https://mlsanity.com/paper/2506.16209/) (2025)
- [A 360-degree Multi-camera System for Blue Emergency Light Detection Using Color Attention RT-DETR and the ABLDataset](https://mlsanity.com/paper/2603.05058/) (2026)
- [Extended Field of View Analysis for VideoGAN-based Trajectory Generation](https://mlsanity.com/paper/2608.02289/) (2026)

## Abstract (arXiv)

Vision-based driver assistance systems is one of the rapidly growing research areas of ITS, due to various factors such as the increased level of safety requirements in automotive, computational power in embedded systems, and desire to get closer to autonomous driving. It is a cross disciplinary area encompassing specialised fields like computer vision, machine learning, robotic navigation, embedded systems, automotive electronics and safety critical software. In this paper, we survey the list of vision based advanced driver assistance systems with a consistent terminology and propose a taxonomy. We also propose an abstract model in an attempt to formalize a top-down view of application development to scale towards autonomous driving system.