{"id":"https://openalex.org/W4400649793","doi":"https://doi.org/10.1109/iv55156.2024.10588371","title":"GAFB-Mapper: Ground aware Forward-Backward View Transformation for Monocular BEV Semantic Mapping","display_name":"GAFB-Mapper: Ground aware Forward-Backward View Transformation for Monocular BEV Semantic Mapping","publication_year":2024,"publication_date":"2024-06-02","ids":{"openalex":"https://openalex.org/W4400649793","doi":"https://doi.org/10.1109/iv55156.2024.10588371"},"language":"en","primary_location":{"id":"doi:10.1109/iv55156.2024.10588371","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55156.2024.10588371","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5114064008","display_name":"Jiangtong Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiangtong Zhu","raw_affiliation_strings":["Xi’an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Institute of Artificial Intelligence and Robotics,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xi’an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Institute of Artificial Intelligence and Robotics,China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100785160","display_name":"Yibo Yuan","orcid":"https://orcid.org/0000-0001-9996-2557"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yibo Yuan","raw_affiliation_strings":["Xi’an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Institute of Artificial Intelligence and Robotics,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xi’an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Institute of Artificial Intelligence and Robotics,China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057311759","display_name":"Zhuo Yin","orcid":null},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuo Yin","raw_affiliation_strings":["Xi’an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Institute of Artificial Intelligence and Robotics,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xi’an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Institute of Artificial Intelligence and Robotics,China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102818081","display_name":"Yang Zhou","orcid":"https://orcid.org/0009-0008-1887-7413"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Zhou","raw_affiliation_strings":["Xi’an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Institute of Artificial Intelligence and Robotics,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xi’an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Institute of Artificial Intelligence and Robotics,China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101468978","display_name":"Shizhen Li","orcid":"https://orcid.org/0000-0002-6376-0619"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shizhen Li","raw_affiliation_strings":["Xi’an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Institute of Artificial Intelligence and Robotics,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xi’an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Institute of Artificial Intelligence and Robotics,China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042245655","display_name":"Jianwu Fang","orcid":"https://orcid.org/0000-0002-0300-6892"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianwu Fang","raw_affiliation_strings":["Xi’an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Institute of Artificial Intelligence and Robotics,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xi’an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Institute of Artificial Intelligence and Robotics,China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031934171","display_name":"Jianru Xue","orcid":null},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianru Xue","raw_affiliation_strings":["Xi’an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Institute of Artificial Intelligence and Robotics,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xi’an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Institute of Artificial Intelligence and Robotics,China","institution_ids":["https://openalex.org/I87445476"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I87445476"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"941","last_page":"946"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13734","display_name":"Advanced Computational Techniques and Applications","score":0.9545999765396118,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T13734","display_name":"Advanced Computational Techniques and Applications","score":0.9545999765396118,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.7391753792762756},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.5192739963531494},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5125727653503418},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5037650465965271},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.4375488758087158},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.43150395154953003}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7391753792762756},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.5192739963531494},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5125727653503418},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5037650465965271},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.4375488758087158},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.43150395154953003},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv55156.2024.10588371","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55156.2024.10588371","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE Intelligent Vehicles Symposium (IV)","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":35,"referenced_works":["https://openalex.org/W1901129140","https://openalex.org/W2948515602","https://openalex.org/W2962914239","https://openalex.org/W3035574168","https://openalex.org/W3102343027","https://openalex.org/W3109395584","https://openalex.org/W3117234758","https://openalex.org/W3173668541","https://openalex.org/W3179351458","https://openalex.org/W3203158837","https://openalex.org/W4212768790","https://openalex.org/W4226305814","https://openalex.org/W4281848959","https://openalex.org/W4282942807","https://openalex.org/W4286768331","https://openalex.org/W4312603285","https://openalex.org/W4312894406","https://openalex.org/W4319300075","https://openalex.org/W4382450829","https://openalex.org/W4383066311","https://openalex.org/W4383066393","https://openalex.org/W4383899702","https://openalex.org/W4384284172","https://openalex.org/W4390874817","https://openalex.org/W4394625866","https://openalex.org/W4399666337","https://openalex.org/W4402727126","https://openalex.org/W4402727763","https://openalex.org/W6811230113","https://openalex.org/W6838633692","https://openalex.org/W6839020635","https://openalex.org/W6839067270","https://openalex.org/W6843220696","https://openalex.org/W6859465366","https://openalex.org/W6859585820"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Monocular":[0],"online":[1],"map":[2,134],"segmentation":[3],"is":[4,16,23,95],"of":[5,44,111,133,141,149],"great":[6],"significance":[7],"to":[8,25,32,66,97,162],"mapless":[9],"autonomous":[10],"driving,":[11],"and":[12,74,104,107,126,155],"the":[13,17,29,33,42,72,77,99,105,112,119,124,131,138,147,158,174,178],"core":[14],"step":[15],"View":[18],"Transformation":[19],"Module":[20],"(VTM),":[21],"which":[22],"used":[24,96],"transfer":[26],"feature":[27],"from":[28,41,76],"image":[30],"perspective":[31],"Bird-Eye-View":[34],"(BEV).":[35],"Most":[36],"existing":[37],"methods":[38],"directly":[39],"draw":[40],"field":[43],"3D":[45,53,61],"object":[46],"perception,":[47],"either":[48],"projecting":[49,60],"2D":[50,64],"features":[51,103,121],"into":[52,63],"space":[54],"based":[55,122],"on":[56,123,157,177],"depth":[57],"estimation,":[58],"or":[59],"coordinates":[62],"images":[65],"query":[67],"corresponding":[68],"features,":[69],"while":[70],"ignoring":[71],"geometry":[73],"semantics":[75],"ground":[78,86,113],"surface.":[79,114],"In":[80,136],"this":[81],"paper,":[82],"we":[83,153],"proposed":[84],"a":[85,164],"aware":[87],"forward-backward":[88],"view":[89],"transformation":[90],"module.":[91],"The":[92,115],"forward":[93],"projection":[94],"generate":[98],"initial":[100],"sparse":[101],"BEV":[102,120],"geometric":[106,125],"semantic":[108,127],"prior":[109],"information":[110],"backward":[116],"module":[117],"refines":[118],"priors,":[128],"thereby":[129],"improving":[130],"accuracy":[132,176],"segmentation.":[135],"addition,":[137],"data":[139,150,160],"partitioning":[140],"most":[142],"previous":[143],"related":[144],"works":[145],"has":[146],"problem":[148],"leakage,":[151],"so":[152],"repartitioned":[154],"experimented":[156],"nuScense":[159],"set":[161],"conduct":[163],"fair":[165],"evaluation.":[166],"Experimental":[167],"results":[168],"demonstrate":[169],"that":[170],"our":[171],"method":[172],"achieves":[173],"highest":[175],"test":[179],"set.":[180],"Code":[181],"will":[182],"be":[183],"released":[184],"at":[185],"https://github.com/Brickzhuantou/MonoBEVseg.":[186]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}