FIERY: Future Instance Prediction in Bird’s-Eye View from Surround Monocular Cameras

June 2021

tl;dr: Prediction in BEV from monocular cameras.

Overall impression

This paper is heavily inspired by Lift Splat Shoot in lifting multicamera features to 3D and then splat onto BEV view. However they are different too.

FIERY also has the capability to handle multimodal prediction.

Key ideas

Technical details