{"paper":{"title":"SkyEye: Self-Supervised Bird's-Eye-View Semantic Mapping Using Monocular Frontal View Images","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.RO"],"primary_cat":"cs.CV","authors_text":"Abhinav Valada, K\\\"ursat Petek, Nikhil Gosala, Paulo L. J. Drews-Jr, Wolfram Burgard","submitted_at":"2023-02-08T18:02:09Z","abstract_excerpt":"Bird's-Eye-View (BEV) semantic maps have become an essential component of automated driving pipelines due to the rich representation they provide for decision-making tasks. However, existing approaches for generating these maps still follow a fully supervised training paradigm and hence rely on large amounts of annotated BEV data. In this work, we address this limitation by proposing the first self-supervised approach for generating a BEV semantic map using a single monocular image from the frontal view (FV). During training, we overcome the need for BEV ground truth annotations by leveraging "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2302.04233","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2302.04233/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}