{"id":"https://openalex.org/W2946578090","doi":"https://doi.org/10.1109/iros40897.2019.8967897","title":"Monocular Plan View Networks for Autonomous Driving","display_name":"Monocular Plan View Networks for Autonomous Driving","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W2946578090","doi":"https://doi.org/10.1109/iros40897.2019.8967897","mag":"2946578090"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8967897","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967897","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1905.06937","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101424814","display_name":"Dequan Wang","orcid":"https://orcid.org/0000-0003-0877-4636"},"institutions":[{"id":"https://openalex.org/I134446601","display_name":"Berkeley College","ror":"https://ror.org/02xewxa75","country_code":"US","type":"education","lineage":["https://openalex.org/I134446601"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dequan Wang","raw_affiliation_strings":["UC Berkeley","UC Berkeley#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UC Berkeley","institution_ids":["https://openalex.org/I134446601","https://openalex.org/I95457486"]},{"raw_affiliation_string":"UC Berkeley#TAB#","institution_ids":["https://openalex.org/I134446601","https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079786074","display_name":"Coline Devin","orcid":null},"institutions":[{"id":"https://openalex.org/I134446601","display_name":"Berkeley College","ror":"https://ror.org/02xewxa75","country_code":"US","type":"education","lineage":["https://openalex.org/I134446601"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Coline Devin","raw_affiliation_strings":["UC Berkeley","UC Berkeley#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UC Berkeley","institution_ids":["https://openalex.org/I134446601","https://openalex.org/I95457486"]},{"raw_affiliation_string":"UC Berkeley#TAB#","institution_ids":["https://openalex.org/I134446601","https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026675587","display_name":"Qi-Zhi Cai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qi-Zhi Cai","raw_affiliation_strings":["Sinovation Ventures AI Institute"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sinovation Ventures AI Institute","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057535281","display_name":"Philipp Kr\u00e4henb\u00fchl","orcid":"https://orcid.org/0000-0002-9846-4369"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Philipp Kr\u00e4henb\u00fchl","raw_affiliation_strings":["UT Austin","UT-Austin"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UT Austin","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"UT-Austin","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029105520","display_name":"Trevor Darrell","orcid":"https://orcid.org/0000-0001-5453-8533"},"institutions":[{"id":"https://openalex.org/I134446601","display_name":"Berkeley College","ror":"https://ror.org/02xewxa75","country_code":"US","type":"education","lineage":["https://openalex.org/I134446601"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Trevor Darrell","raw_affiliation_strings":["UC Berkeley","UC Berkeley#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UC Berkeley","institution_ids":["https://openalex.org/I134446601","https://openalex.org/I95457486"]},{"raw_affiliation_string":"UC Berkeley#TAB#","institution_ids":["https://openalex.org/I134446601","https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2876","last_page":"2883"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9955999851226807,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9952999949455261,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7887909412384033},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.7695769667625427},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6608166694641113},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6452969312667847},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6326168775558472},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.6171857118606567},{"id":"https://openalex.org/keywords/overhead","display_name":"Overhead (engineering)","score":0.4362748861312866},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.41574111580848694},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.4101373553276062}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7887909412384033},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.7695769667625427},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6608166694641113},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6452969312667847},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6326168775558472},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.6171857118606567},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.4362748861312866},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.41574111580848694},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.4101373553276062},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros40897.2019.8967897","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967897","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1905.06937","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1905.06937","pdf_url":"https://arxiv.org/pdf/1905.06937","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:2946578090","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1905.06937","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1905.06937","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1905.06937","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1905.06937","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1905.06937","pdf_url":"https://arxiv.org/pdf/1905.06937","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.47999998927116394,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2946578090.pdf","grobid_xml":"https://content.openalex.org/works/W2946578090.grobid-xml"},"referenced_works_count":65,"referenced_works":["https://openalex.org/W183071939","https://openalex.org/W1861492603","https://openalex.org/W1949285675","https://openalex.org/W2108461717","https://openalex.org/W2117539524","https://openalex.org/W2119112357","https://openalex.org/W2133233905","https://openalex.org/W2150066425","https://openalex.org/W2167224731","https://openalex.org/W2171740948","https://openalex.org/W2296035016","https://openalex.org/W2342242867","https://openalex.org/W2342840547","https://openalex.org/W2468368736","https://openalex.org/W2555618208","https://openalex.org/W2559767995","https://openalex.org/W2560544142","https://openalex.org/W2611430843","https://openalex.org/W2653246566","https://openalex.org/W2798398701","https://openalex.org/W2798930779","https://openalex.org/W2798965597","https://openalex.org/W2799017078","https://openalex.org/W2811025443","https://openalex.org/W2890235476","https://openalex.org/W2894705404","https://openalex.org/W2896992394","https://openalex.org/W2898900571","https://openalex.org/W2898925193","https://openalex.org/W2899117197","https://openalex.org/W2899302124","https://openalex.org/W2899771611","https://openalex.org/W2962696750","https://openalex.org/W2962894046","https://openalex.org/W2962957031","https://openalex.org/W2963016445","https://openalex.org/W2963150697","https://openalex.org/W2963323244","https://openalex.org/W2963689319","https://openalex.org/W2963727600","https://openalex.org/W2964077562","https://openalex.org/W2964121744","https://openalex.org/W2967895468","https://openalex.org/W3114753236","https://openalex.org/W6607472237","https://openalex.org/W6631190155","https://openalex.org/W6639102338","https://openalex.org/W6640174482","https://openalex.org/W6679847170","https://openalex.org/W6684338915","https://openalex.org/W6685261749","https://openalex.org/W6692405165","https://openalex.org/W6704559304","https://openalex.org/W6737454590","https://openalex.org/W6740453532","https://openalex.org/W6743163079","https://openalex.org/W6745193792","https://openalex.org/W6752781648","https://openalex.org/W6753891015","https://openalex.org/W6754918364","https://openalex.org/W6755668676","https://openalex.org/W6755742144","https://openalex.org/W6755779118","https://openalex.org/W6755864109","https://openalex.org/W6756040250"],"related_works":["https://openalex.org/W3003639745","https://openalex.org/W2167224731","https://openalex.org/W3170335739","https://openalex.org/W3118618654","https://openalex.org/W3162157596","https://openalex.org/W3202530101","https://openalex.org/W3211498054","https://openalex.org/W3141491707","https://openalex.org/W2917376449","https://openalex.org/W3054577735","https://openalex.org/W2558232109","https://openalex.org/W3193243893","https://openalex.org/W129964409","https://openalex.org/W3116375516","https://openalex.org/W3080700777","https://openalex.org/W3016361525","https://openalex.org/W1828712743","https://openalex.org/W3186636850","https://openalex.org/W2980107525","https://openalex.org/W2562176677"],"abstract_inverted_index":{"Convolutions":[0],"on":[1,108],"monocular":[2,104],"dash":[3],"cam":[4],"videos":[5],"capture":[6],"spatial":[7],"invariances":[8],"in":[9,47,91,95],"the":[10,48,66,76,83,109],"image":[11],"plane":[12],"but":[13],"do":[14],"not":[15],"explicitly":[16],"reason":[17],"about":[18],"distances":[19],"and":[20,45,52,78,123,137],"depth.":[21],"We":[22,42,101],"propose":[23],"a":[24,30,70,120],"simple":[25],"transformation":[26],"of":[27,65,80,140],"observations":[28],"into":[29,55],"bird's":[31],"eye":[32],"view,":[33,38],"also":[34],"known":[35],"as":[36,130,133],"plan":[37,58,84,105,121],"for":[39],"end-to-end":[40],"control.":[41],"detect":[43],"vehicles":[44],"pedestrians":[46],"first":[49],"person":[50],"view":[51,85,106,122,125],"project":[53],"them":[54],"an":[56,63,138],"overhead":[57],"view.":[59],"This":[60],"representation":[61],"provides":[62],"abstraction":[64],"environment":[67],"from":[68],"which":[69],"deep":[71,98],"network":[72,107,117],"can":[73],"easily":[74],"deduce":[75],"positions":[77],"directions":[79],"entities.":[81],"Additionally,":[82],"enables":[86],"us":[87],"to":[88],"leverage":[89],"advances":[90],"3D":[92],"object":[93],"detection":[94],"conjunction":[96],"with":[97],"policy":[99],"learning.":[100],"evaluate":[102],"our":[103],"photo-realistic":[110],"Grand":[111],"Theft":[112],"Auto":[113],"V":[114],"simulator.":[115],"A":[116],"using":[118],"both":[119],"front":[124],"causes":[126],"less":[127],"than":[128,144],"half":[129],"many":[131],"collisions":[132,143],"previous":[134],"detection-based":[135],"methods":[136],"order":[139],"magnitude":[141],"fewer":[142],"pure":[145],"pixel-based":[146],"policies.":[147]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}