# "The Pedestrian next to the Lamppost" Adaptive Object Graphs for Better Instantaneous Mapping

arXiv: https://arxiv.org/abs/2204.02944 · HTML: https://mlsanity.com/paper/2204.02944/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 42 of its 55 references that are in the map.
- First posted on arXiv 6 Apr 2022.

## Builds on (most cited first, 30 of 42)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Semi-Supervised Classification with Graph Convolutional Networks](https://mlsanity.com/paper/1609.02907/) (2016)
- [Graph Attention Networks](https://mlsanity.com/paper/1710.10903/) (2017)
- [Inductive Representation Learning on Large Graphs](https://mlsanity.com/paper/1706.02216/) (2017)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [Fast R-CNN](https://mlsanity.com/paper/1504.08083/) (2015)
- [Convolutional Neural Networks on Graphs with Fast Localized Spectral Filtering](https://mlsanity.com/paper/1606.09375/) (2016)
- [Objects as Points](https://mlsanity.com/paper/1904.07850/) (2019)
- [Geometric Deep Learning: Grids, Groups, Graphs, Geodesics, and Gauges](https://mlsanity.com/paper/2104.13478/) (2021)
- [MoleculeNet: A Benchmark for Molecular Machine Learning](https://mlsanity.com/paper/1703.00564/) (2017)
- [Lift, Splat, Shoot: Encoding Images From Arbitrary Camera Rigs by Implicitly Unprojecting to 3D](https://mlsanity.com/paper/2008.05711/) (2020)
- [COCO-Stuff: Thing and Stuff Classes in Context](https://mlsanity.com/paper/1612.03716/) (2016)
- [Argoverse: 3D Tracking and Forecasting with Rich Maps](https://mlsanity.com/paper/1911.02620/) (2019)
- [A Generalization of Transformer Networks to Graphs](https://mlsanity.com/paper/2012.09699/) (2020)
- [Rethinking Graph Transformers with Spectral Attention](https://mlsanity.com/paper/2106.03893/) (2021)
- [FCOS3D: Fully Convolutional One-Stage Monocular 3D Object Detection](https://mlsanity.com/paper/2104.10956/) (2021)
- [Deep Layer Aggregation](https://mlsanity.com/paper/1707.06484/) (2017)
- [Graph R-CNN for Scene Graph Generation](https://mlsanity.com/paper/1808.00191/) (2018)
- [3D Bounding Box Estimation Using Deep Learning and Geometry](https://mlsanity.com/paper/1612.00496/) (2016)
- [SSD-6D: Making RGB-based 3D detection and 6D pose estimation great again](https://mlsanity.com/paper/1711.10006/) (2017)
- [Disentangling Monocular 3D Object Detection](https://mlsanity.com/paper/1905.12365/) (2019)
- [Orthographic Feature Transform for Monocular 3D Object Detection](https://mlsanity.com/paper/1811.08188/) (2018)
- [Predicting Semantic Map Representations from Images using Pyramid Occupancy Networks](https://mlsanity.com/paper/2003.13402/) (2020)
- [Cross-view Semantic Segmentation for Sensing Surroundings](https://mlsanity.com/paper/1906.03560/) (2019)
- [MonoPair: Monocular 3D Object Detection Using Pairwise Spatial Relationships](https://mlsanity.com/paper/2003.00504/) (2020)
- [Directional Graph Networks](https://mlsanity.com/paper/2010.02863/) (2020)
- [Fake News Detection on Social Media using Geometric Deep Learning](https://mlsanity.com/paper/1902.06673/) (2019)
- [Translating Images into Maps](https://mlsanity.com/paper/2110.00966/) (2021)
- [Monocular 3D Object Detection Leveraging Accurate Proposals and Shape Reconstruction](https://mlsanity.com/paper/1904.01690/) (2019)

## Built on by (most cited first, 4 of 4)

- [Behavioral Intention Prediction in Driving Scenes: A Survey](https://mlsanity.com/paper/2211.00385/) (2022)
- [Vision-based Uneven BEV Representation Learning with Polar Rasterization and Surface Estimation](https://mlsanity.com/paper/2207.01878/) (2022)
- [BEV-CV: Birds-Eye-View Transform for Cross-View Geo-Localisation](https://mlsanity.com/paper/2312.15363/) (2023)
- [Maps from Motion (MfM): Generating 2D Semantic Maps from Sparse Multi-view Images](https://mlsanity.com/paper/2411.12620/) (2024)

## Abstract (arXiv)

Estimating a semantically segmented bird's-eye-view (BEV) map from a single image has become a popular technique for autonomous control and navigation. However, they show an increase in localization error with distance from the camera. While such an increase in error is entirely expected - localization is harder at distance - much of the drop in performance can be attributed to the cues used by current texture-based models, in particular, they make heavy use of object-ground intersections (such as shadows), which become increasingly sparse and uncertain for distant objects. In this work, we address these shortcomings in BEV-mapping by learning the spatial relationship between objects in a scene. We propose a graph neural network which predicts BEV objects from a monocular image by spatially reasoning about an object within the context of other objects. Our approach sets a new state-of-the-art in BEV estimation from monocular images across three large-scale datasets, including a 50% relative improvement for objects on nuScenes.