mlsanityData to 7 Oct 2026

LAPTNet: LiDAR-Aided Perspective Transform Network

arXiv 2211.14445 ↗First posted 14 Nov 2022cs.CV cs.AI cs.ROcited by 0

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Abstract (arXiv)

Semantic grids are a useful representation of the environment around a robot. They can be used in autonomous vehicles to concisely represent the scene around the car, capturing vital information for downstream tasks like navigation or collision assessment. Information from different sensors can be used to generate these grids. Some methods rely only on RGB images, whereas others choose to incorporate information from other sensors, such as radar or LiDAR. In this paper, we present an architecture that fuses LiDAR and camera information to generate semantic grids. By using the 3D information from a LiDAR point cloud, the LiDAR-Aided Perspective Transform Network (LAPTNet) is able to associate features in the camera plane to the bird's eye view without having to predict any depth information about the scene. Compared to state-of-theart camera-only methods, LAPTNet achieves an improvement of up to 8.8 points (or 38.13%) over state-of-art competing approaches for the classes proposed in the NuScenes dataset validation split.

Key facts. No citing papers in the map yet (data through 7 Oct 2026). Builds on 23 of its 28 references that are in the map. First posted on arXiv 14 Nov 2022.

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23 of 28 references.

References · 23

  1. 2022Generative Adversarial Networkscited by 5,603
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11 more
  1. 2021Categorical Depth Distribution Network for Monocular 3D Object Detectioncited by 326
  2. 2020Deep Continuous Fusion for Multi-Sensor 3D Object Detectioncited by 263
  3. 2022DeepFusion: Lidar-Camera Deep Fusion for Multi-Modal 3D Object Detectioncited by 224
  4. 2018Orthographic Feature Transform for Monocular 3D Object Detectioncited by 201
  5. 2020Predicting Semantic Map Representations from Images using Pyramid Occupancy Networkscited by 175
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  8. 2020FISHING Net: Future Inference of Semantic Heatmaps In Gridscited by 55
  9. 2019Learning 2D to 3D Lifting for Object Detection in 3D for Autonomous Vehiclescited by 18
  10. 2021PillarSegNet: Pillar-based Semantic Grid Map Estimation using Sparse LiDAR Datacited by 16
  11. 2019Short-Term Prediction and Multi-Camera Fusion on Semantic Gridscited by 4

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