# HSDA: High-frequency Shuffle Data Augmentation for Bird's-Eye-View Map Segmentation

arXiv: https://arxiv.org/abs/2412.06127 · HTML: https://mlsanity.com/paper/2412.06127/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 36 of its 45 references that are in the map.
- First posted on arXiv 9 Dec 2024.

## Builds on (most cited first, 30 of 36)

- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformers](https://mlsanity.com/paper/2203.17270/) (2022)
- [Planning-oriented Autonomous Driving](https://mlsanity.com/paper/2212.10156/) (2022)
- [Lift, Splat, Shoot: Encoding Images From Arbitrary Camera Rigs by Implicitly Unprojecting to 3D](https://mlsanity.com/paper/2008.05711/) (2020)
- [BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representation](https://mlsanity.com/paper/2205.13542/) (2022)
- [BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-View](https://mlsanity.com/paper/2112.11790/) (2021)
- [Cyclical Learning Rates for Training Neural Networks](https://mlsanity.com/paper/1506.01186/) (2015)
- [BEVDepth: Acquisition of Reliable Depth for Multi-view 3D Object Detection](https://mlsanity.com/paper/2206.10092/) (2022)
- [PETRv2: A Unified Framework for 3D Perception from Multi-Camera Images](https://mlsanity.com/paper/2206.01256/) (2022)
- [Class-balanced Grouping and Sampling for Point Cloud 3D Object Detection](https://mlsanity.com/paper/1908.09492/) (2019)
- [Cross-view Transformers for real-time Map-view Semantic Segmentation](https://mlsanity.com/paper/2205.02833/) (2022)
- [FIERY: Future Instance Prediction in Bird's-Eye View from Surround Monocular Cameras](https://mlsanity.com/paper/2104.10490/) (2021)
- [BEVerse: Unified Perception and Prediction in Birds-Eye-View for Vision-Centric Autonomous Driving](https://mlsanity.com/paper/2205.09743/) (2022)
- [NEAT: Neural Attention Fields for End-to-End Autonomous Driving](https://mlsanity.com/paper/2109.04456/) (2021)
- [M2BEV: Multi-Camera Joint 3D Detection and Segmentation with Unified Birds-Eye View Representation](https://mlsanity.com/paper/2204.05088/) (2022)
- [DDP: Diffusion Model for Dense Visual Prediction](https://mlsanity.com/paper/2303.17559/) (2023)
- [3D-LaneNet: End-to-End 3D Multiple Lane Detection](https://mlsanity.com/paper/1811.10203/) (2018)
- [MotionNet: Joint Perception and Motion Prediction for Autonomous Driving Based on Bird's Eye View Maps](https://mlsanity.com/paper/2003.06754/) (2020)
- [Bird's-Eye-View Scene Graph for Vision-Language Navigation](https://mlsanity.com/paper/2308.04758/) (2023)
- [Learning Auxiliary Monocular Contexts Helps Monocular 3D Object Detection](https://mlsanity.com/paper/2112.04628/) (2021)
- [InverseForm: A Loss Function for Structured Boundary-Aware Segmentation](https://mlsanity.com/paper/2104.02745/) (2021)
- [TimesURL: Self-supervised Contrastive Learning for Universal Time Series Representation Learning](https://mlsanity.com/paper/2312.15709/) (2023)
- [Data Augmentation techniques in time series domain: A survey and taxonomy](https://mlsanity.com/paper/2206.13508/) (2022)
- [X-Align: Cross-Modal Cross-View Alignment for Bird's-Eye-View Segmentation](https://mlsanity.com/paper/2210.06778/) (2022)
- [AuxAdapt: Stable and Efficient Test-Time Adaptation for Temporally Consistent Video Semantic Segmentation](https://mlsanity.com/paper/2110.12369/) (2021)
- [Learning Implicit Feature Alignment Function for Semantic Segmentation](https://mlsanity.com/paper/2206.08655/) (2022)
- [TBP-Former: Learning Temporal Bird's-Eye-View Pyramid for Joint Perception and Prediction in Vision-Centric Autonomous Driving](https://mlsanity.com/paper/2303.09998/) (2023)
- [Driving among Flatmobiles: Bird-Eye-View occupancy grids from a monocular camera for holistic trajectory planning](https://mlsanity.com/paper/2008.04047/) (2020)
- [Monocular 3D Vehicle Detection Using Uncalibrated Traffic Cameras through Homography](https://mlsanity.com/paper/2103.15293/) (2021)
- [Real-Time High-Performance Semantic Image Segmentation of Urban Street Scenes](https://mlsanity.com/paper/2003.08736/) (2020)

## Abstract (arXiv)

Autonomous driving has garnered significant attention in recent research, and Bird's-Eye-View (BEV) map segmentation plays a vital role in the field, providing the basis for safe and reliable operation. While data augmentation is a commonly used technique for improving BEV map segmentation networks, existing approaches predominantly focus on manipulating spatial domain representations. In this work, we investigate the potential of frequency domain data augmentation for camera-based BEV map segmentation. We observe that high-frequency information in camera images is particularly crucial for accurate segmentation. Based on this insight, we propose High-frequency Shuffle Data Augmentation (HSDA), a novel data augmentation strategy that enhances a network's ability to interpret high-frequency image content. This approach encourages the network to distinguish relevant high-frequency information from noise, leading to improved segmentation results for small and intricate image regions, as well as sharper edge and detail perception. Evaluated on the nuScenes dataset, our method demonstrates broad applicability across various BEV map segmentation networks, achieving a new state-of-the-art mean Intersection over Union (mIoU) of 61.3% for camera-only systems. This significant improvement underscores the potential of frequency domain data augmentation for advancing the field of autonomous driving perception. Code has been released: https://github.com/Zarhult/HSDA