{"id":"https://openalex.org/W4401414637","doi":"https://doi.org/10.1109/icra57147.2024.10611420","title":"Semi-Supervised Learning for Visual Bird\u2019s Eye View Semantic Segmentation","display_name":"Semi-Supervised Learning for Visual Bird\u2019s Eye View Semantic Segmentation","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414637","doi":"https://doi.org/10.1109/icra57147.2024.10611420"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611420","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611420","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100694511","display_name":"Junyu Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Junyu Zhu","raw_affiliation_strings":["Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100329790","display_name":"Lina Liu","orcid":"https://orcid.org/0000-0001-6483-1557"},"institutions":[{"id":"https://openalex.org/I180662265","display_name":"China Mobile (China)","ror":"https://ror.org/05gftfe97","country_code":"CN","type":"company","lineage":["https://openalex.org/I180662265"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lina Liu","raw_affiliation_strings":["China Mobile Research Institute,Beijing,China"],"affiliations":[{"raw_affiliation_string":"China Mobile Research Institute,Beijing,China","institution_ids":["https://openalex.org/I180662265"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080511669","display_name":"Yu Tang","orcid":"https://orcid.org/0000-0001-6654-237X"},"institutions":[{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Tang","raw_affiliation_strings":["Huawei Technologies,Noah’s Ark Lab,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Huawei Technologies,Noah’s Ark Lab,Beijing,China","institution_ids":["https://openalex.org/I2250955327"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034468581","display_name":"Feng Wen","orcid":"https://orcid.org/0000-0001-7536-638X"},"institutions":[{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Wen","raw_affiliation_strings":["Huawei Technologies,Noah’s Ark Lab,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Huawei Technologies,Noah’s Ark Lab,Beijing,China","institution_ids":["https://openalex.org/I2250955327"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005172019","display_name":"Wanlong Li","orcid":"https://orcid.org/0000-0001-5886-1426"},"institutions":[{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wanlong Li","raw_affiliation_strings":["Huawei Technologies,Noah’s Ark Lab,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Huawei Technologies,Noah’s Ark Lab,Beijing,China","institution_ids":["https://openalex.org/I2250955327"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5115602420","display_name":"Yong Liu","orcid":"https://orcid.org/0000-0001-6037-4926"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Liu","raw_affiliation_strings":["Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100694511"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":1.5005,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.83556969,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"9079","last_page":"9085"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11438","display_name":"Retinal Imaging and Analysis","score":0.9936000108718872,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.9890000224113464,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7679839730262756},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6928772330284119},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6443620920181274},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.43026354908943176},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42523738741874695},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.38542142510414124},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3416464328765869}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7679839730262756},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6928772330284119},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6443620920181274},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.43026354908943176},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42523738741874695},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.38542142510414124},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3416464328765869}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611420","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611420","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W2054389289","https://openalex.org/W2565639579","https://openalex.org/W2746314669","https://openalex.org/W2890003176","https://openalex.org/W2953070460","https://openalex.org/W2966415767","https://openalex.org/W2989484703","https://openalex.org/W2992308087","https://openalex.org/W2998508940","https://openalex.org/W3021472582","https://openalex.org/W3034669477","https://openalex.org/W3035574168","https://openalex.org/W3035680157","https://openalex.org/W3100744475","https://openalex.org/W3109395584","https://openalex.org/W3120562181","https://openalex.org/W3171581326","https://openalex.org/W3176659256","https://openalex.org/W3193266637","https://openalex.org/W3203158837","https://openalex.org/W3205150709","https://openalex.org/W3206357583","https://openalex.org/W4200495456","https://openalex.org/W4210604873","https://openalex.org/W4226305814","https://openalex.org/W4283705167","https://openalex.org/W4284676843","https://openalex.org/W4286768331","https://openalex.org/W4289283268","https://openalex.org/W4289551072","https://openalex.org/W4296558731","https://openalex.org/W4312641958","https://openalex.org/W4312894406","https://openalex.org/W4319300075","https://openalex.org/W4386075981","https://openalex.org/W4390873443","https://openalex.org/W6733814495","https://openalex.org/W6743428213","https://openalex.org/W6756392615","https://openalex.org/W6764051988","https://openalex.org/W6776411772","https://openalex.org/W6811230113","https://openalex.org/W6839821289","https://openalex.org/W6840308267","https://openalex.org/W6840633886","https://openalex.org/W6880983126"],"related_works":["https://openalex.org/W4379231730","https://openalex.org/W4389858081","https://openalex.org/W2501551404","https://openalex.org/W4385583601","https://openalex.org/W4298131179","https://openalex.org/W2113201962","https://openalex.org/W4395685956","https://openalex.org/W2799953226","https://openalex.org/W4398146871","https://openalex.org/W1522196789"],"abstract_inverted_index":{"Visual":[0],"bird\u2019s":[1],"eye":[2],"view":[3],"(BEV)":[4],"semantic":[5,47,74,106,143,177],"segmentation":[6,75,178],"helps":[7],"autonomous":[8],"vehicles":[9],"understand":[10],"the":[11,31,41,44,84,101,110,129,133,137,141,148,162,169],"surrounding":[12],"environment":[13],"only":[14,105],"from":[15],"front-view":[16],"(FV)":[17],"images,":[18],"including":[19],"static":[20],"elements":[21,26],"(e.g.,":[22,27],"roads)":[23],"and":[24,58,118,140],"dynamic":[25],"vehicles,":[28],"pedestrians).":[29],"However,":[30],"high":[32],"cost":[33],"of":[34,37,43,93,164],"annotation":[35],"procedures":[36],"full-supervised":[38],"methods":[39],"limits":[40],"capability":[42],"visual":[45,72,175],"BEV":[46,73,111,142,176],"segmentation,":[48],"which":[49,126],"usually":[50],"needs":[51],"HD":[52],"maps,":[53],"3D":[54],"object":[55],"bounding":[56],"boxes,":[57],"camera":[59],"extrinsic":[60],"matrixes.":[61],"In":[62],"this":[63,167],"paper,":[64],"we":[65,114],"present":[66],"a":[67,116],"novel":[68,117],"semi-supervised":[69,154],"framework":[70,155],"for":[71],"to":[76,99],"boost":[77],"performance":[78,179],"by":[79],"exploiting":[80],"unlabeled":[81,94,181],"images":[82,139],"during":[83],"training.":[85],"A":[86],"consistency":[87],"loss":[88],"that":[89,152,172],"makes":[90],"full":[91],"use":[92],"data":[95,120],"is":[96,168,185],"then":[97],"proposed":[98],"constrain":[100],"model":[102],"on":[103,147],"not":[104],"prediction":[107,159],"but":[108],"also":[109],"feature.":[112],"Furthermore,":[113],"propose":[115],"effective":[119],"augmentation":[121],"method":[122],"named":[123],"conjoint":[124],"rotation":[125],"reasonably":[127],"augments":[128],"dataset":[130,150],"while":[131],"maintaining":[132],"geometric":[134],"relationship":[135],"between":[136],"FV":[138],"segmentation.":[144],"Extensive":[145],"experiments":[146],"nuScenes":[149],"show":[151],"our":[153,165],"can":[156],"effectively":[157],"improve":[158],"accuracy.":[160],"To":[161],"best":[163],"knowledge,":[166],"first":[170],"work":[171],"explores":[173],"improving":[174],"using":[180],"data.":[182],"The":[183],"code":[184],"available":[186],"at":[187],"https://github.com/Junyu-Z/Semi-BEVseg.":[188]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}