# SG-BEV: Satellite-Guided BEV Fusion for Cross-View Semantic Segmentation

arXiv: https://arxiv.org/abs/2404.02638 · HTML: https://mlsanity.com/paper/2404.02638/

## Key facts

- Cited by 18 papers in the map (data through 14 Oct 2026).
- Builds on 33 of its 46 references that are in the map.
- First posted on arXiv 3 Apr 2024.

## Builds on (most cited first, 30 of 33)

- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [PointPillars: Fast Encoders for Object Detection from Point Clouds](https://mlsanity.com/paper/1812.05784/) (2018)
- [BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformers](https://mlsanity.com/paper/2203.17270/) (2022)
- [Lift, Splat, Shoot: Encoding Images From Arbitrary Camera Rigs by Implicitly Unprojecting to 3D](https://mlsanity.com/paper/2008.05711/) (2020)
- [DETR3D: 3D Object Detection from Multi-view Images via 3D-to-2D Queries](https://mlsanity.com/paper/2110.06922/) (2021)
- [ZoeDepth: Zero-shot Transfer by Combining Relative and Metric Depth](https://mlsanity.com/paper/2302.12288/) (2023)
- [Side Adapter Network for Open-Vocabulary Semantic Segmentation](https://mlsanity.com/paper/2302.12242/) (2023)
- [HDMapNet: An Online HD Map Construction and Evaluation Framework](https://mlsanity.com/paper/2107.06307/) (2021)
- [SegNeXt: Rethinking Convolutional Attention Design for Semantic Segmentation](https://mlsanity.com/paper/2209.08575/) (2022)
- [VIGOR: Cross-View Image Geo-localization beyond One-to-one Retrieval](https://mlsanity.com/paper/2011.12172/) (2020)
- [Cross-view Semantic Segmentation for Sensing Surroundings](https://mlsanity.com/paper/1906.03560/) (2019)
- [TransGeo: Transformer Is All You Need for Cross-view Image Geo-localization](https://mlsanity.com/paper/2204.00097/) (2022)
- [PolarFormer: Multi-camera 3D Object Detection with Polar Transformer](https://mlsanity.com/paper/2206.15398/) (2022)
- [Where am I looking at? Joint Location and Orientation Estimation by Cross-View Matching](https://mlsanity.com/paper/2005.03860/) (2020)
- [BEVSegFormer: Bird's Eye View Semantic Segmentation From Arbitrary Camera Rigs](https://mlsanity.com/paper/2203.04050/) (2022)
- [Delving into the Devils of Bird's-eye-view Perception: A Review, Evaluation and Recipe](https://mlsanity.com/paper/2209.05324/) (2022)
- [Coming Down to Earth: Satellite-to-Street View Synthesis for Geo-Localization](https://mlsanity.com/paper/2103.06818/) (2021)
- [RoadTracer: Automatic Extraction of Road Networks from Aerial Images](https://mlsanity.com/paper/1802.03680/) (2018)
- [Beyond Cross-view Image Retrieval: Highly Accurate Vehicle Localization Using Satellite Image](https://mlsanity.com/paper/2204.04752/) (2022)
- [Foreground-Aware Relation Network for Geospatial Object Segmentation in High Spatial Resolution Remote Sensing Imagery](https://mlsanity.com/paper/2011.09766/) (2020)
- [A Sim2Real Deep Learning Approach for the Transformation of Images from Multiple Vehicle-Mounted Cameras to a Semantically Segmented Image in Bird's Eye View](https://mlsanity.com/paper/2005.04078/) (2020)
- [Fine-Grained Cross-View Geo-Localization Using a Correlation-Aware Homography Estimator](https://mlsanity.com/paper/2308.16906/) (2023)
- [Boosting 3-DoF Ground-to-Satellite Camera Localization Accuracy via Geometry-Guided Cross-View Transformer](https://mlsanity.com/paper/2307.08015/) (2023)
- [SuperFusion: Multilevel LiDAR-Camera Fusion for Long-Range HD Map Generation](https://mlsanity.com/paper/2211.15656/) (2022)
- [Algorithms for Semantic Segmentation of Multispectral Remote Sensing Imagery using Deep Learning](https://mlsanity.com/paper/1703.06452/) (2017)
- [Understanding urban landuse from the above and ground perspectives: a deep learning, multimodal solution](https://mlsanity.com/paper/1905.01752/) (2019)
- [OmniCity: Omnipotent City Understanding with Multi-level and Multi-view Images](https://mlsanity.com/paper/2208.00928/) (2022)
- [360BEV: Panoramic Semantic Mapping for Indoor Bird's-Eye View](https://mlsanity.com/paper/2303.11910/) (2023)
- [A Unified Model for Near and Remote Sensing](https://mlsanity.com/paper/1708.03035/) (2017)

## Built on by (most cited first, 18 of 18)

- [Cross-view image geo-localization with Panorama-BEV Co-Retrieval Network](https://mlsanity.com/paper/2408.05475/) (2024)
- [Where am I? Cross-View Geo-localization with Natural Language Descriptions](https://mlsanity.com/paper/2412.17007/) (2024)
- [UrBench: A Comprehensive Benchmark for Evaluating Large Multimodal Models in Multi-View Urban Scenarios](https://mlsanity.com/paper/2408.17267/) (2024)
- [CrossViewDiff: A Cross-View Diffusion Model for Satellite-to-Street View Synthesis](https://mlsanity.com/paper/2408.14765/) (2024)
- [Leveraging BEV Paradigm for Ground-to-Aerial Image Synthesis](https://mlsanity.com/paper/2408.01812/) (2024)
- [UrbanFeel: A Comprehensive Benchmark for Temporal and Perceptual Understanding of City Scenes through Human Perspective](https://mlsanity.com/paper/2509.22228/) (2025)
- [SA-Occ: Satellite-Assisted 3D Occupancy Prediction in Real World](https://mlsanity.com/paper/2503.16399/) (2025)
- [SGFormer: Satellite-Ground Fusion for 3D Semantic Scene Completion](https://mlsanity.com/paper/2503.16825/) (2025)
- [Precise GPS-Denied UAV Self-Positioning via Context-Enhanced Cross-View Geo-Localization](https://mlsanity.com/paper/2502.11408/) (2025)
- [ViewBridge:Revisiting Cross-View Localization from Image Matching](https://mlsanity.com/paper/2508.10716/) (2025)
- [Cross-View Localization via Redundant Sliced Observations and A-Contrario Validation](https://mlsanity.com/paper/2508.05369/) (2025)
- [Seeing the Unseen: Mask-Driven Positional Encoding and Strip-Convolution Context Modeling for Cross-View Object Geo-Localization](https://mlsanity.com/paper/2510.20247/) (2025)
- [Fine-Grained Building Function Recognition from Street-View Images via Geometry-Aware Semi-Supervised Learning](https://mlsanity.com/paper/2408.09460/) (2024)
- [FACE: Few-shot Adapter with Cross-view Fusion for Cross-subject EEG Emotion Recognition](https://mlsanity.com/paper/2503.18998/) (2025)
- [SatSAM2: Motion-Constrained Video Object Tracking in Satellite Imagery using Promptable SAM2 and Kalman Priors](https://mlsanity.com/paper/2511.18264/) (2025)
- [Cross-view Domain Generalization via Geometric Consistency for LiDAR Semantic Segmentation](https://mlsanity.com/paper/2602.14525/) (2026)
- [Earth-Agent-Pro: Towards Real-World Full-Chain Earth Observation with Agents](https://mlsanity.com/paper/2609.12533/) (2026)
- [How to Reduce Localization Ambiguity? Geometry-Semantic Constrained BEV Representation Learning for Satellite-Ground Localization](https://mlsanity.com/paper/2609.39127/) (2026)

## Abstract (arXiv)

This paper aims at achieving fine-grained building attribute segmentation in a cross-view scenario, i.e., using satellite and street-view image pairs. The main challenge lies in overcoming the significant perspective differences between street views and satellite views. In this work, we introduce SG-BEV, a novel approach for satellite-guided BEV fusion for cross-view semantic segmentation. To overcome the limitations of existing cross-view projection methods in capturing the complete building facade features, we innovatively incorporate Bird's Eye View (BEV) method to establish a spatially explicit mapping of street-view features. Moreover, we fully leverage the advantages of multiple perspectives by introducing a novel satellite-guided reprojection module, optimizing the uneven feature distribution issues associated with traditional BEV methods. Our method demonstrates significant improvements on four cross-view datasets collected from multiple cities, including New York, San Francisco, and Boston. On average across these datasets, our method achieves an increase in mIOU by 10.13% and 5.21% compared with the state-of-the-art satellite-based and cross-view methods. The code and datasets of this work will be released at https://github.com/yejy53/SG-BEV.