Papers › LaRa: Latents and Rays for Multi-Camera Bird's-Eye-View Semantic Segmentation
LaRa: Latents and Rays for Multi-Camera Bird's-Eye-View Semantic Segmentation
Florent Bartoccioni, Éloi Zablocki, Andrei Bursuc, Patrick Pérez, Matthieu Cord, Karteek Alahari
Recent works in autonomous driving have widely adopted the bird's-eye-view (BEV) semantic map as an intermediate representation of the world. Online prediction of these BEV maps involves non-trivial operations such as multi-camera data extraction as well as fusion and projection into a common topview grid. This is usually done with error-prone geometric operations (e.g., homography or back-projection from monocular depth estimation) or expensive direct dense mapping between image pixels and pixels in BEV (e.g., with MLP or attention). In this work, we present 'LaRa', an efficient encoder-decoder, transformer-based model for vehicle semantic segmentation from multiple cameras. Our approach uses a system of cross-attention to aggregate information over multiple sensors into a compact, yet rich, collection of latent representations. These latent representations, after being processed by a series of self-attention blocks, are then reprojected with a second cross-attention in the BEV space. We demonstrate that our model outperforms the best previous works using transformers on nuScenes. The code and trained models are available at https://github.com/valeoai/LaRa
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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 | LaRa | IoU veh - 224x480 - No vis filter - 100x100 at 0.5 | 35.4 | #7 of 17 | Archive leaderboard | report |
| Bird's-Eye View Semantic Segmentation | nuScenes | LaRa | IoU veh - 224x480 - Vis filter. - 100x100 at 0.5 | 38.9 | #7 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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