Bird's-Eye View Semantic Segmentation

Benchmarks archive 2025-07-28

3 leaderboard tables shown for this task, 3 with rows (a “benchmark” on this site is a table with at least one row, as on /sota), ordered by row count. “Best model” is the first row in the archive's own order at snapshot; nothing is re-ranked here and metric direction is not recorded in the archive. PwC's Trend sparklines are not in the archive, so that column is omitted.

Syntology column: samples harvested from the paper's repositories and executed on synthesized fixtures; “ran” is not a correctness claim and does not order the table. A dash means no Syntology record for that paper, not a recorded non-run. Read from the graph 2026-09-24.

Libraries

Not in the archive: the export carries no per-task library table, so there is nothing to show at snapshot 2025-07-28.

Datasets archive 2025-07-28

3 datasets whose archive record lists this task, ordered by the archive's paper count.

Subtasks archive 2025-07-28

No subtask under this task in the archive's task tree.

Parent tasks archive 2025-07-28

Most implemented papers archive 2025-07-28

17 shown of 17 papers with code (26 tagged with this task in all), ordered by repositories listed in the archive, not by stars (the archive holds no stars, so PwC's “Social” and “Latest” sorts cannot be reproduced). Papers without a page here are shown as plain text.

• BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformers
  31 Mar 2022 3 repositories listed
  In a nutshell, BEVFormer exploits both spatial and temporal information by interacting with spatial and temporal space through predefined grid-shaped BEV queries.
• MatrixVT: Efficient Multi-Camera to BEV Transformation for 3D Perception
  19 Nov 2022 2 repositories listed
  This paper proposes an efficient multi-camera to Bird's-Eye-View (BEV) view transformation method for 3D perception, dubbed MatrixVT.
• CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformers
  5 Jul 2022 2 repositories listed Syntology ran 0 of 3 samples · 3 unverified
  The extensive experiments on the V2V perception dataset, OPV2V, demonstrate that CoBEVT achieves state-of-the-art performance for cooperative BEV semantic segmentation.
• Cross-view Transformers for real-time Map-view Semantic Segmentation
  5 May 2022 2 repositories listed Syntology ran 2 of 8 samples · 6 unverified
  The architecture consists of a convolutional image encoder for each view and cross-view transformer layers to infer a map-view semantic segmentation.
• SimBEV: A Synthetic Multi-Task Multi-Sensor Driving Data Generation Tool and Dataset
  4 Feb 2025 1 repository listed
  SimBEV is a randomized synthetic data generation tool that is extensively configurable and scalable, supports a wide array of sensors, incorporates information from multiple sources to capture accurate BEV ground truth,…
• Progressive Query Refinement Framework for Bird's-Eye-View Semantic Segmentation from Surrounding Images
  24 Jul 2024 1 repository listed
  During training, we enforce both the lowest and final query maps to align with the ground-truth BEV semantic map to help our model effectively capture the global and local characteristics.
• Improving Bird's Eye View Semantic Segmentation by Task Decomposition
  2 Apr 2024 1 repository listed Syntology ran 3 of 3 samples · 0 unverified
  In the first stage, we train a BEV autoencoder to reconstruct the BEV segmentation maps given corrupted noisy latent representation, which urges the decoder to learn fundamental knowledge of typical BEV patterns.
• PointBeV: A Sparse Approach to BeV Predictions
  1 Dec 2023 1 repository listed
  To address this, we propose PointBeV, a novel sparse BeV segmentation model operating on sparse BeV cells instead of dense grids.
• Semi-Supervised Learning for Visual Bird's Eye View Semantic Segmentation
  28 Aug 2023 1 repository listed
  In this paper, we present a novel semi-supervised framework for visual BEV semantic segmentation to boost performance by exploiting unlabeled images during the training.
• Model-Based Imitation Learning for Urban Driving
  14 Oct 2022 1 repository listed Syntology ran 21 of 23 samples · 2 unverified
  Our approach is the first camera-only method that models static scene, dynamic scene, and ego-behaviour in an urban driving environment.
• ST-P3: End-to-end Vision-based Autonomous Driving via Spatial-Temporal Feature Learning
  15 Jul 2022 1 repository listed Syntology ran 1 of 5 samples · 4 unverified
  In particular, we propose a spatial-temporal feature learning scheme towards a set of more representative features for perception, prediction and planning tasks simultaneously, which is called ST-P3.
• LaRa: Latents and Rays for Multi-Camera Bird's-Eye-View Semantic Segmentation
  27 Jun 2022 1 repository listed
  Recent works in autonomous driving have widely adopted the bird's-eye-view (BEV) semantic map as an intermediate representation of the world.
• Simple-BEV: What Really Matters for Multi-Sensor BEV Perception?
  16 Jun 2022 1 repository listed
  Building 3D perception systems for autonomous vehicles that do not rely on high-density LiDAR is a critical research problem because of the expense of LiDAR systems compared to cameras and other sensors.
• PETRv2: A Unified Framework for 3D Perception from Multi-Camera Images
  2 Jun 2022 1 repository listed Syntology ran 1 of 1 samples · 0 unverified · 1 pointer-only (licence)
  More specifically, we extend the 3D position embedding (3D PE) in PETR for temporal modeling.
• FIERY: Future Instance Prediction in Bird's-Eye View from Surround Monocular Cameras
  21 Apr 2021 1 repository listed Syntology ran 0 of 1 samples · 1 unverified
  We present FIERY: a probabilistic future prediction model in bird's-eye view from monocular cameras.
• Lift, Splat, Shoot: Encoding Images From Arbitrary Camera Rigs by Implicitly Unprojecting to 3D
  13 Aug 2020 1 repository listed
  By training on the entire camera rig, we provide evidence that our model is able to learn not only how to represent images but how to fuse predictions from all cameras into a single cohesive representation of the scene…
• LandCover.ai: Dataset for Automatic Mapping of Buildings, Woodlands, Water and Roads from Aerial Imagery
  5 May 2020 1 repository listed
  km with resolution 50 cm per pixel and 176.

Syntology lines on 7 of the papers shown; no Syntology record for the others (a paper without an arXiv id cannot be joined to the graph, and absence from the graph layer is not a recorded non-run). “Ran” means the sample executed on a synthesized fixture, not that the paper's result was reproduced. Read from the graph 2026-09-24.