{"id":"https://openalex.org/W4210604873","doi":"https://doi.org/10.1109/lra.2022.3146898","title":"Understanding Bird\u2019s-Eye View of Road Semantics Using an Onboard Camera","display_name":"Understanding Bird\u2019s-Eye View of Road Semantics Using an Onboard Camera","publication_year":2022,"publication_date":"2022-01-31","ids":{"openalex":"https://openalex.org/W4210604873","doi":"https://doi.org/10.1109/lra.2022.3146898"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3146898","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3146898","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://lirias.kuleuven.be/handle/20.500.12942/728777","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036280697","display_name":"Yi\u011fit Baran Can","orcid":"https://orcid.org/0000-0003-0508-0575"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Yigit Baran Can","raw_affiliation_strings":["Computer Vision Laboratory, ETH Zurich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Computer Vision Laboratory, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048742998","display_name":"Alexander Liniger","orcid":"https://orcid.org/0000-0002-7858-7900"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Alexander Liniger","raw_affiliation_strings":["Computer Vision Laboratory, ETH Zurich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Computer Vision Laboratory, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090395353","display_name":"Ozan Unal","orcid":"https://orcid.org/0000-0002-1121-3883"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Ozan Unal","raw_affiliation_strings":["Computer Vision Laboratory, ETH Zurich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Computer Vision Laboratory, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050696776","display_name":"Danda Pani Paudel","orcid":"https://orcid.org/0000-0002-1739-1867"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Danda Paudel","raw_affiliation_strings":["Computer Vision Laboratory, ETH Zurich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Computer Vision Laboratory, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001254143","display_name":"Luc Van Gool","orcid":"https://orcid.org/0000-0002-3445-5711"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE","CH"],"is_corresponding":false,"raw_author_name":"Luc Van Gool","raw_affiliation_strings":["Computer Vision Laboratory, ETH Zurich, Zurich, Switzerland","KU Leuven, Leuven, Belgium"],"affiliations":[{"raw_affiliation_string":"Computer Vision Laboratory, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"KU Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5036280697"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":5.5822,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.96698175,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"7","issue":"2","first_page":"3302","last_page":"3309"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13282","display_name":"Automated Road and Building Extraction","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T13282","display_name":"Automated Road and Building Extraction","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9940000176429749,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9739000201225281,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.5601038932800293},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5548748970031738},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5548287630081177},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46992456912994385},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.4282952845096588},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3255297541618347},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.23220843076705933},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.08377385139465332}],"concepts":[{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.5601038932800293},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5548748970031738},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5548287630081177},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46992456912994385},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.4282952845096588},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3255297541618347},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.23220843076705933},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.08377385139465332}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2022.3146898","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3146898","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:lirias2repo.kuleuven.be:20.500.12942/728777","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/20.500.12942/728777","pdf_url":null,"source":{"id":"https://openalex.org/S4306401954","display_name":"Lirias (KU Leuven)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I99464096","host_organization_name":"KU Leuven","host_organization_lineage":["https://openalex.org/I99464096"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, vol. 7 (2), (3302-3309)","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:lirias2repo.kuleuven.be:20.500.12942/728777","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/20.500.12942/728777","pdf_url":null,"source":{"id":"https://openalex.org/S4306401954","display_name":"Lirias (KU Leuven)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I99464096","host_organization_name":"KU Leuven","host_organization_lineage":["https://openalex.org/I99464096"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, vol. 7 (2), (3302-3309)","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6600000262260437}],"awards":[],"funders":[{"id":"https://openalex.org/F4320335507","display_name":"Toyota Motor Europe","ror":"https://ror.org/023g86t37"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W250737475","https://openalex.org/W2146881125","https://openalex.org/W2340897893","https://openalex.org/W2884561390","https://openalex.org/W2890003176","https://openalex.org/W2898081942","https://openalex.org/W2905173465","https://openalex.org/W2906667343","https://openalex.org/W2948515602","https://openalex.org/W2955189650","https://openalex.org/W2963759562","https://openalex.org/W2963823251","https://openalex.org/W2964294967","https://openalex.org/W2967177252","https://openalex.org/W2977977449","https://openalex.org/W3010003086","https://openalex.org/W3010667431","https://openalex.org/W3034295100","https://openalex.org/W3034355852","https://openalex.org/W3034669477","https://openalex.org/W3035574168","https://openalex.org/W3036452913","https://openalex.org/W3040428231","https://openalex.org/W3080647531","https://openalex.org/W3100744475","https://openalex.org/W3102343027","https://openalex.org/W3103957575","https://openalex.org/W3109395584","https://openalex.org/W3117234758","https://openalex.org/W3130344538","https://openalex.org/W4214549494","https://openalex.org/W4243425824","https://openalex.org/W6753441378","https://openalex.org/W6755742144","https://openalex.org/W6755864109","https://openalex.org/W6772033386","https://openalex.org/W6780075094","https://openalex.org/W6782874146"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","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":{"Autonomous":[0],"navigation":[1],"requires":[2],"scene":[3,28,58],"understanding":[4,29,59],"of":[5,39,50,63,66,84,95],"the":[6,18,31,36,51,61,71,93,120,132,137],"action-space":[7],"to":[8,27,125],"move":[9],"or":[10],"anticipate":[11],"events.":[12],"For":[13],"planner":[14],"agents":[15],"moving":[16],"on":[17,99],"ground":[19],"plane,":[20],"such":[21],"as":[22],"autonomous":[23,40],"vehicles,":[24],"this":[25,54,85],"translates":[26],"in":[30,60],"bird\u2019s-eye":[32],"view":[33,49],"(BEV).":[34],"However,":[35],"onboard":[37,77],"cameras":[38],"cars":[41],"are":[42,123],"customarily":[43],"mounted":[44],"horizontally":[45],"for":[46,128],"a":[47,75,105],"better":[48],"surrounding.":[52],"In":[53,113],"work,":[55],"we":[56,103,117],"study":[57,80],"form":[62],"online":[64],"estimation":[65],"semantic":[67],"BEV":[68,89,129],"maps":[69],"using":[70],"video":[72],"input":[73],"from":[74],"single":[76],"camera.":[78],"We":[79],"three":[81,101,111],"key":[82],"aspects":[83,122],"task,":[86],"image-level":[87],"understanding,":[88,91],"level":[90],"and":[92],"aggregation":[94],"temporal":[96],"information.":[97],"Based":[98],"these":[100,110],"pillars":[102],"propose":[104],"novel":[106],"architecture":[107,134],"that":[108,119],"combines":[109],"aspects.":[112],"our":[114],"extensive":[115],"experiments,":[116],"demonstrate":[118],"considered":[121],"complementary":[124],"each":[126],"other":[127],"understanding.":[130],"Furthermore,":[131],"proposed":[133],"significantly":[135],"surpasses":[136],"current":[138],"state-of-the-art.":[139],"Code:":[140],"<uri":[141],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[142],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://github.com/ybarancan/BEV_feat_stitch</uri>":[143],".":[144]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":2}],"updated_date":"2026-04-07T14:57:38.498316","created_date":"2022-02-08T00:00:00"}
