Papers › Cross-view Transformers for real-time Map-view Semantic Segmentation
Cross-view Transformers for real-time Map-view Semantic Segmentation
Brady Zhou, Philipp Krähenbühl
We present cross-view transformers, an efficient attention-based model for map-view semantic segmentation from multiple cameras. Our architecture implicitly learns a mapping from individual camera views into a canonical map-view representation using a camera-aware cross-view attention mechanism. Each camera uses positional embeddings that depend on its intrinsic and extrinsic calibration. These embeddings allow a transformer to learn the mapping across different views without ever explicitly modeling it geometrically. The architecture consists of a convolutional image encoder for each view and cross-view transformer layers to infer a map-view semantic segmentation. Our model is simple, easily parallelizable, and runs in real-time. The presented architecture performs at state-of-the-art on the nuScenes dataset, with 4x faster inference speeds. Code is available at https://github.com/bradyz/cross_view_transformers.
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Tasks
Results from the paper archive 2025-07-28
| Task | Dataset | Model | Metric | Value | Rank at snapshot | Leaderboard | Report |
|---|---|---|---|---|---|---|---|
| Bird's-Eye View Semantic Segmentation | nuScenes | CVT | IoU veh - 224x480 - No vis filter - 100x100 at 0.5 | 31.4 | #8 of 17 | Archive leaderboard | report |
| Bird's-Eye View Semantic Segmentation | nuScenes | CVT | IoU veh - 224x480 - Vis filter. - 100x100 at 0.5 | 36.0 | #8 of 17 | Archive leaderboard | report |
| Bird's-Eye View Semantic Segmentation | nuScenes | CVT | IoU veh - 448x800 - No vis filter - 100x100 at 0.5 | 32.5 | #8 of 17 | Archive leaderboard | report |
| Bird's-Eye View Semantic Segmentation | nuScenes | CVT | IoU veh - 448x800 - Vis filter. - 100x100 at 0.5 | 37.7 | #8 of 17 | Archive leaderboard | report |
Ranks are positions in the archive's leaderboards as they stood at the 2025-07-28 snapshot. Results published since then are not among these rows, so a rank here is not a current standing.
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