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Cross-view Transformers for real-time Map-view Semantic Segmentation. (arXiv:2205.02833v1 [cs.CV])
cs.CV updates on arXiv.org arxiv.org
We present cross-view transformers, an efficient attention-based model for
map-view semantic segmentation from multiple cameras. Our architecture
implicitly learns a mapping from individual camera views into a canonical
map-view representation using a camera-aware cross-view attention mechanism.
Each camera uses positional embeddings that depend on its intrinsic and
extrinsic calibration. These embeddings allow a transformer to learn the
mapping across different views without ever explicitly modeling it
geometrically. The architecture consists of a convolutional image encoder for
each view and cross-view …
arxiv cv map real-time segmentation semantic time transformers