DaF-BEVSeg: Distortion-aware Fisheye Camera based Bird's Eye View Segmentation with Occlusion Reasoning

arXiv:2404.06352v1 Announce Type: new
Abstract: Semantic segmentation is an effective way to perform scene understanding. Recently, segmentation in 3D Bird's Eye View (BEV) space has become popular as its directly used by drive policy. However, there is limited work on BEV segmentation for surround-view fisheye cameras, commonly used in commercial vehicles. As this task has no real-world public dataset and existing synthetic datasets do not handle amodal regions due to occlusion, we create a synthetic dataset using the Cognata simulator …

arxiv bird cs.cv cs.ro reasoning segmentation type view