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Get better segmented bird's-eye view of a scene by using multiple cameras with CoBEVT

Get better segmented bird's-eye view of a scene by using multiple cameras with CoBEVT


CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformers


NOTE: The arXiv site is having problems on July 7, 2022. Hopefully it will be fixed soon.

arXiv paper abstract https://arxiv.org/abs/2207.02202



Bird's eye view (BEV) semantic segmentation plays a crucial role in spatial sensing for autonomous driving.


... recent literature ... all based on single-agent camera-based systems which are difficult to handle occlusions and detect distant objects


... Vehicle-to-Vehicle (V2V) communication ... enabled autonomous vehicles to share sensing information, which can dramatically improve the perception performance and range as compared to single-agent systems.


... propose CoBEVT, the first generic multi-agent multi-camera perception framework that can cooperatively generate BEV map predictions.


To ... fuse camera features from ... multi-agent data ... design a fused axial attention or FAX module, which can capture sparsely local and global spatial interactions across views and agents.


... CoBEVT achieves state-of-the-art performance for cooperative BEV semantic segmentation.



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