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Title: Camera-view supervision for bird's-eye-view semantic segmentation
Bird's-eye-view Semantic Segmentation (BEVSS) is a powerful and crucial component of planning and control systems in many autonomous vehicles. Current methods rely on end-to-end learning to train models, leading to indirectly supervised and inaccurate camera-to-BEV projections. We propose a novel method of supervising feature extraction with camera-view depth and segmentation information, which improves the quality of feature extraction and projection in the BEVSS pipeline. Our model, evaluated on the nuScenes dataset, shows a 3.8% improvement in Intersection-over-Union (IoU) for vehicle segmentation and a 30-fold reduction in depth error compared to baselines, while maintaining competitive inference times of 32 FPS. This method offers more accurate and reliable BEVSS for real-time autonomous driving systems. The codes and implementation details and code can be found athttps://github.com/bluffish/sucam.  more » « less
Award ID(s):
2107449
PAR ID:
10639139
Author(s) / Creator(s):
; ;
Publisher / Repository:
Frontiers Media S.A
Date Published:
Journal Name:
Frontiers in Big Data
Volume:
7
ISSN:
2624-909X
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
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