PanopticBEV: Bird’s-Eye-View Panoptic Segmentation Using Monocular Frontal View Images

October 2021

tl;dr: Use of a vertical and a flat transformer to lift image into BEV.

Overall impression

The paper notes correctly that the notion of instance is critical to downstream. FIERY also extends the semantic segmentation idea to instance segmentation. Panoptic BEV goes one step further and does panoptic segmentation.

Key ideas

Technical details