mlsanityData to 7 Oct 2026

Street-View Image Generation from a Bird's-Eye View Layout

arXiv 2301.04634 ↗First posted 11 Jan 2023cs.CVcited by 102

Not on the map. Why?

Cited by 35 in End-to-end autonomous driving, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

Bird's-Eye View (BEV) Perception has received increasing attention in recent years as it provides a concise and unified spatial representation across views and benefits a diverse set of downstream driving applications. At the same time, data-driven simulation for autonomous driving has been a focal point of recent research but with few approaches that are both fully data-driven and controllable. Instead of using perception data from real-life scenarios, an ideal model for simulation would generate realistic street-view images that align with a given HD map and traffic layout, a task that is critical for visualizing complex traffic scenarios and developing robust perception models for autonomous driving. In this paper, we propose BEVGen, a conditional generative model that synthesizes a set of realistic and spatially consistent surrounding images that match the BEV layout of a traffic scenario. BEVGen incorporates a novel cross-view transformation with spatial attention design which learns the relationship between cameras and map views to ensure their consistency. We evaluate the proposed model on the challenging NuScenes and Argoverse 2 datasets. After training, BEVGen can accurately render road and lane lines, as well as generate traffic scenes with diverse different weather conditions and times of day.

Key facts. Cited by 102 papers in the map (data through 7 Oct 2026). Builds on 59 of its 78 references that are in the map. First posted on arXiv 11 Jan 2023.

Builds on

59 of 78 references.

References · 59

  1. 2022Hierarchical Text-Conditional Image Generation with CLIP Latentscited by 6,539
  2. 2022Photorealistic Text-to-Image Diffusion Models with Deep Language Understandingcited by 6,322
  3. 2017Neural Discrete Representation Learningcited by 4,650
  4. 2016Image-to-Image Translation with Conditional Adversarial Networkscited by 4,510
  5. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  6. 2021Zero-Shot Text-to-Image Generationcited by 4,276
  7. 2020Taming Transformers for High-Resolution Image Synthesiscited by 3,229
  8. 2022Make-A-Video: Text-to-Video Generation without Text-Video Datacited by 1,725
  9. 2020Big Bird: Transformers for Longer Sequencescited by 1,673
  10. 2022BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformerscited by 1,213
  11. 2022MaskGIT: Masked Generative Image Transformercited by 1,082
  12. 2020Lift, Splat, Shoot: Encoding Images From Arbitrary Camera Rigs by Implicitly Unprojecting to 3Dcited by 1,040
38 more
  1. 2021LoFTR: Detector-Free Local Feature Matching with Transformerscited by 974
  2. 2016Conditional Image Generation with PixelCNN Decoderscited by 859
  3. 2016Pixel Recurrent Neural Networkscited by 814
  4. 2016Generative Adversarial Text to Image Synthesiscited by 735
  5. 2019Argoverse: 3D Tracking and Forecasting with Rich Mapscited by 728
  6. 2017Unpaired Image-to-Image Translation using Cycle-Consistent Adversarial Networkscited by 707
  7. 2023Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecastingcited by 701
  8. 2021CogView: Mastering Text-to-Image Generation via Transformerscited by 691
  9. 2019Segmentation Transformer: Object-Contextual Representations for Semantic Segmentationcited by 573
  10. 2022Make-A-Scene: Scene-Based Text-to-Image Generation with Human Priorscited by 487
  11. 2019SynSin: End-to-end View Synthesis from a Single Imagecited by 364
  12. 2018Image Generation from Scene Graphscited by 324
  13. 2021MetaDrive: Composing Diverse Driving Scenarios for Generalizable Reinforcement Learningcited by 281
  14. 2022Cross-view Transformers for real-time Map-view Semantic Segmentationcited by 264
  15. 2021FIERY: Future Instance Prediction in Bird's-Eye View from Surround Monocular Camerascited by 239
  16. 2022CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformerscited by 227
  17. 2022BEVerse: Unified Perception and Prediction in Birds-Eye-View for Vision-Centric Autonomous Drivingcited by 191
  18. 2020BlockGAN: Learning 3D Object-aware Scene Representations from Unlabelled Imagescited by 166
  19. 2021DriveGAN: Towards a Controllable High-Quality Neural Simulationcited by 125
  20. 2021Coming Down to Earth: Satellite-to-Street View Synthesis for Geo-Localizationcited by 112
  21. 2022TrafficGen: Learning to Generate Diverse and Realistic Traffic Scenarioscited by 104
  22. 2018Inferring Semantic Layout for Hierarchical Text-to-Image Synthesiscited by 101
  23. 2021Geometry-Free View Synthesis: Transformers and no 3D Priorscited by 99
  24. 2016Predicting Ground-Level Scene Layout from Aerial Imagerycited by 89
  25. 2020Semantic Image Manipulation Using Scene Graphscited by 82
  26. 2021PixelSynth: Generating a 3D-Consistent Experience from a Single Imagecited by 82
  27. 2017Virtual to Real Reinforcement Learning for Autonomous Drivingcited by 79
  28. 2018Generating High Fidelity Images with Subscale Pixel Networks and Multidimensional Upscalingcited by 74
  29. 2018Cross-View Image Synthesis using Conditional GANscited by 69
  30. 2020World-Consistent Video-to-Video Synthesiscited by 69
  31. 2017Deep Cross-Modal Audio-Visual Generationcited by 63
  32. 2022Look Outside the Room: Synthesizing A Consistent Long-Term 3D Scene Video from A Single Imagecited by 55
  33. 2021On Exposing the Challenging Long Tail in Future Prediction of Traffic Actorscited by 48
  34. 2021Bird's-Eye-View Panoptic Segmentation Using Monocular Frontal View Imagescited by 48
  35. 2022StretchBEV: Stretching Future Instance Prediction Spatially and Temporallycited by 47
  36. 2022Diverse Plausible 360-Degree Image Outpainting for Efficient 3DCG Background Creationcited by 47
  37. 2021Geometry-Guided Street-View Panorama Synthesis from Satellite Imagerycited by 41
  38. 2022BlobGAN: Spatially Disentangled Scene Representationscited by 35

50 most cited of 59 All 59 (JSON)

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 13; 2024: 32; 2025: 39; 2026: 18.

102 papers.

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  1. 2023Driving into the Future: Multiview Visual Forecasting and Planning with World Model for Autonomous Drivingcited by 309
  2. 2023MagicDrive: Street View Generation with Diverse 3D Geometry Controlcited by 250
  3. 2023Panacea: Panoramic and Controllable Video Generation for Autonomous Drivingcited by 165
  4. 2024GenAD: Generalized Predictive Model for Autonomous Drivingcited by 150
  5. 2023LLM4Drive: A Survey of Large Language Models for Autonomous Drivingcited by 136
  6. 2023Vision Language Models in Autonomous Driving: A Survey and Outlookcited by 124
  7. 2023BEVControl: Accurately Controlling Street-view Elements with Multi-perspective Consistency via BEV Sketch Layoutcited by 102
  8. 2023ADriver-I: A General World Model for Autonomous Drivingcited by 102
  9. 2024UniScene: Unified Occupancy-centric Driving Scene Generationcited by 102
  10. 2024DriveArena: A Closed-loop Generative Simulation Platform for Autonomous Drivingcited by 98
  11. 2023WoVoGen: World Volume-aware Diffusion for Controllable Multi-camera Driving Scene Generationcited by 93
  12. 2024Editable Scene Simulation for Autonomous Driving via Collaborative LLM-Agentscited by 91
38 more
  1. 2023DrivingDiffusion: Layout-Guided multi-view driving scene video generation with latent diffusion modelcited by 75
  2. 2023SSCBench: A Large-Scale 3D Semantic Scene Completion Benchmark for Autonomous Drivingcited by 72
  3. 20253D and 4D World Modeling: A Surveycited by 64
  4. 2025A Survey of World Models for Autonomous Drivingcited by 60
  5. 2024Unleashing Generalization of End-to-End Autonomous Driving with Controllable Long Video Generationcited by 54
  6. 2024LidarDM: Generative LiDAR Simulation in a Generated Worldcited by 53
  7. 2024Streetscapes: Large-scale Consistent Street View Generation Using Autoregressive Video Diffusioncited by 39
  8. 2025DiST-4D: Disentangled Spatiotemporal Diffusion with Metric Depth for 4D Driving Scene Generationcited by 39
  9. 2024DreamDrive: Generative 4D Scene Modeling from Street View Imagescited by 35
  10. 2024SimGen: Simulator-conditioned Driving Scene Generationcited by 34
  11. 2024DreamForge: Motion-Aware Autoregressive Video Generation for Multi-View Driving Scenescited by 34
  12. 2024DrivingSphere: Building a High-fidelity 4D World for Closed-loop Simulationcited by 34
  13. 2024SubjectDrive: Scaling Generative Data in Autonomous Driving via Subject Controlcited by 32
  14. 2025OmniNWM: Omniscient Driving Navigation World Modelscited by 32
  15. 2025Vid2Sim: Realistic and Interactive Simulation from Video for Urban Navigationcited by 30
  16. 2023Towards Knowledge-driven Autonomous Drivingcited by 29
  17. 2024DriveScape: Towards High-Resolution Controllable Multi-View Driving Video Generationcited by 22
  18. 2024HoloDrive: Holistic 2D-3D Multi-Modal Street Scene Generation for Autonomous Drivingcited by 21
  19. 2025Genesis: Multimodal Driving Scene Generation with Spatio-Temporal and Cross-Modal Consistencycited by 21
  20. 2025X-Scene: Large-Scale Driving Scene Generation with High Fidelity and Flexible Controllabilitycited by 20
  21. 2025GeoDrive: 3D Geometry-Informed Driving World Model with Precise Action Controlcited by 19
  22. 2023FedBEVT: Federated Learning Bird's Eye View Perception Transformer in Road Traffic Systemscited by 14
  23. 2024Urban Scene Diffusion through Semantic Occupancy Mapcited by 14
  24. 2024SyntheOcc: Synthesize Geometric-Controlled Street View Images through 3D Semantic MPIscited by 14
  25. 2024Bench2Drive-R: Turning Real World Data into Reactive Closed-Loop Autonomous Driving Benchmark by Generative Modelcited by 14
  26. 2025LiDARCrafter: Dynamic 4D World Modeling from LiDAR Sequencescited by 14
  27. 2024Text2Street: Controllable Text-to-image Generation for Street Viewscited by 13
  28. 2024X-Drive: Cross-modality consistent multi-sensor data synthesis for driving scenarioscited by 13
  29. 2025DriveGEN: Generalized and Robust 3D Detection in Driving via Controllable Text-to-Image Diffusion Generationcited by 13
  30. 2024PerLDiff: Controllable Street View Synthesis Using Perspective-Layout Diffusion Modelscited by 12
  31. 2024Physical Informed Driving World Modelcited by 12
  32. 2025Unraveling the Effects of Synthetic Data on End-to-End Autonomous Drivingcited by 12
  33. 2025CoGen: 3D Consistent Video Generation via Adaptive Conditioning for Autonomous Drivingcited by 12
  34. 2025WorldSplat: Gaussian-Centric Feed-Forward 4D Scene Generation for Autonomous Drivingcited by 11
  35. 2024Seeing Beyond Views: Multi-View Driving Scene Video Generation with Holistic Attentioncited by 10
  36. 2024OccScene: Semantic Occupancy-based Cross-task Mutual Learning for 3D Scene Generationcited by 10
  37. 2025DiVE: Efficient Multi-View Driving Scenes Generation Based on Video Diffusion Transformercited by 10
  38. 2025OccTENS: 3D Occupancy World Model via Temporal Next-Scale Predictioncited by 9

50 most cited of 102 All 102 (JSON)