Publication Type

Journal Article

Version

acceptedVersion

Publication Date

3-2024

Abstract

HD map reconstruction is crucial for autonomous driving. LiDAR-based methods are limited due to expensive sensors and time-consuming computation. Camera-based methods usually need to perform road segmentation and view transformation separately, which often causes distortion and missing content. To push the limits of the technology, we present a novel framework that reconstructs a local map formed by road layout and vehicle occupancy in the bird's-eye view given a front-view monocular image only. We propose a front-to-top view projection (FTVP) module, which takes the constraint of cycle consistency between views into account and makes full use of their correlation to strengthen the view transformation and scene understanding. In addition, we apply multi-scale FTVP modules to propagate the rich spatial information of low-level features to mitigate spatial deviation of the predicted object location. Experiments on public benchmarks show that our method achieves various tasks on road layout estimation, vehicle occupancy estimation, and multi-class semantic estimation, at a performance level comparable to the state-of-the-arts, while maintaining superior efficiency.

Keywords

Autonomous driving, BEV perception, Estimation, Feature extraction, Layout, Roads, segmentation, Task analysis, Three-dimensional displays, Transformers

Discipline

Artificial Intelligence and Robotics | Numerical Analysis and Scientific Computing

Publication

IEEE Transactions on Pattern Analysis and Machine Intelligence

First Page

1

Last Page

17

ISSN

0162-8828

Identifier

10.1109/TPAMI.2024.3377812

Publisher

Institute of Electrical and Electronics Engineers

Copyright Owner and License

Authors-CC-BY

Creative Commons License

Creative Commons Attribution 3.0 License
This work is licensed under a Creative Commons Attribution 3.0 License.

Additional URL

https://doi.org/10.1109/TPAMI.2024.3377812

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