부산대학교 도서관

Generating a detailed near-field perceptual model of the environment is an important and challenging problem in both self-driving vehicles and autonomous mobile robotics. A Bird's Eye View (BEV) map, providing a panoptic representation, is a commonly used approach that provides a simplified 2D representation of the vehicle's surroundings with accurate semantic level segmentation for many downstream tasks. Current state-of-the art approaches to generate BEV-maps employ a Convolutional Neural Network (CNN) backbone to create feature-maps which are passed through a spatial transformer to project the derived features onto the BEV coordinate frame. In this paper, we evaluate the use of vision transformers (ViT) as a backbone architecture to generate BEV maps. Our network architecture, ViT-BEVSeg, employs standard vision transformers to generate a multi-scale representation of the input image. The resulting representation is then provided as an input to a spatial transformer decoder module which outputs segmentation maps in the BEV grid. We evaluate our approach on the nuScenes dataset demonstrating a considerable improvement in the performance relative to state-of-the-art approaches. Code is available at https://github.com/robotvisionmu/ViT-BEVSeg.