# Aerial-PASS: Panoramic Annular Scene Segmentation in Drone Videos

arXiv: https://arxiv.org/abs/2105.07209 · HTML: https://mlsanity.com/paper/2105.07209/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- Builds on 23 of its 40 references that are in the map.
- First posted on arXiv 15 May 2021.

## Builds on (most cited first, 23 of 23)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [ImageNet Large Scale Visual Recognition Challenge](https://mlsanity.com/paper/1409.0575/) (2014)
- [SGDR: Stochastic Gradient Descent with Warm Restarts](https://mlsanity.com/paper/1608.03983/) (2016)
- [Fully Convolutional Networks for Semantic Segmentation](https://mlsanity.com/paper/1411.4038/) (2014)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [Delving Deep into Rectifiers: Surpassing Human-Level Performance on ImageNet Classification](https://mlsanity.com/paper/1502.01852/) (2015)
- [DeepLab: Semantic Image Segmentation with Deep Convolutional Nets, Atrous Convolution, and Fully Connected CRFs](https://mlsanity.com/paper/1606.00915/) (2016)
- [Pyramid Scene Parsing Network](https://mlsanity.com/paper/1612.01105/) (2016)
- [Spatial Pyramid Pooling in Deep Convolutional Networks for Visual Recognition](https://mlsanity.com/paper/1406.4729/) (2014)
- [ENet: A Deep Neural Network Architecture for Real-Time Semantic Segmentation](https://mlsanity.com/paper/1606.02147/) (2016)
- [In Defense of Pre-trained ImageNet Architectures for Real-time Semantic Segmentation of Road-driving Images](https://mlsanity.com/paper/1903.08469/) (2019)
- [Deep Dual-resolution Networks for Real-time and Accurate Semantic Segmentation of Road Scenes](https://mlsanity.com/paper/2101.06085/) (2021)
- [Agriculture-Vision: A Large Aerial Image Database for Agricultural Pattern Analysis](https://mlsanity.com/paper/2001.01306/) (2020)
- [Capturing Omni-Range Context for Omnidirectional Segmentation](https://mlsanity.com/paper/2103.05687/) (2021)
- [Real-time Fusion Network for RGB-D Semantic Segmentation Incorporating Unexpected Obstacle Detection for Road-driving Images](https://mlsanity.com/paper/2002.10570/) (2020)
- [A Relation-Augmented Fully Convolutional Network for Semantic Segmentation in Aerial Scenes](https://mlsanity.com/paper/1904.05730/) (2019)
- [See Clearer at Night: Towards Robust Nighttime Semantic Segmentation through Day-Night Image Conversion](https://mlsanity.com/paper/1908.05868/) (2019)
- [PointFlow: Flowing Semantics Through Points for Aerial Image Segmentation](https://mlsanity.com/paper/2103.06564/) (2021)
- [Universal Semantic Segmentation for Fisheye Urban Driving Images](https://mlsanity.com/paper/2002.03736/) (2020)
- [AttaNet: Attention-Augmented Network for Fast and Accurate Scene Parsing](https://mlsanity.com/paper/2103.05930/) (2021)
- [Aerial LaneNet: Lane Marking Semantic Segmentation in Aerial Imagery using Wavelet-Enhanced Cost-sensitive Symmetric Fully Convolutional Neural Networks](https://mlsanity.com/paper/1803.06904/) (2018)
- [Panoramic annular SLAM with loop closure and global optimization](https://mlsanity.com/paper/2102.13400/) (2021)

## Built on by (most cited first, 5 of 5)

- [Review on Panoramic Imaging and Its Applications in Scene Understanding](https://mlsanity.com/paper/2205.05570/) (2022)
- [Annular Computational Imaging: Capture Clear Panoramic Images through Simple Lens](https://mlsanity.com/paper/2206.06070/) (2022)
- [Computational Imaging for Machine Perception: Transferring Semantic Segmentation beyond Aberrations](https://mlsanity.com/paper/2211.11257/) (2022)
- [SO3UFormer: Learning Intrinsic Spherical Features for Rotation-Robust Panoramic Dense Prediction](https://mlsanity.com/paper/2602.22867/) (2026)
- [Online Continual Domain Adaptation for Semantic Image Segmentation Using Internal Representations](https://mlsanity.com/paper/2401.01035/) (2024)

## Abstract (arXiv)

Aerial pixel-wise scene perception of the surrounding environment is an important task for UAVs (Unmanned Aerial Vehicles). Previous research works mainly adopt conventional pinhole cameras or fisheye cameras as the imaging device. However, these imaging systems cannot achieve large Field of View (FoV), small size, and lightweight at the same time. To this end, we design a UAV system with a Panoramic Annular Lens (PAL), which has the characteristics of small size, low weight, and a 360-degree annular FoV. A lightweight panoramic annular semantic segmentation neural network model is designed to achieve high-accuracy and real-time scene parsing. In addition, we present the first drone-perspective panoramic scene segmentation dataset Aerial-PASS, with annotated labels of track, field, and others. A comprehensive variety of experiments shows that the designed system performs satisfactorily in aerial panoramic scene parsing. In particular, our proposed model strikes an excellent trade-off between segmentation performance and inference speed suitable, validated on both public street-scene and our established aerial-scene datasets.