# Learning to Map Vehicles into Bird's Eye View

## TL;DR

This paper introduces a deep learning approach to transform vehicle detections from dashboard camera views into bird's eye occupancy maps, trained on a large synthetic dataset and effective on real-world data.

## Contribution

It presents a novel synthetic dataset and a deep network for semantic-aware view transformation, enabling better scene understanding for autonomous driving.

## Key findings

- Model outperforms several baselines
- Generalizes well to real-world data
- Effective in creating bird's eye occupancy maps

## Abstract

Awareness of the road scene is an essential component for both autonomous vehicles and Advances Driver Assistance Systems and is gaining importance both for the academia and car companies. This paper presents a way to learn a semantic-aware transformation which maps detections from a dashboard camera view onto a broader bird's eye occupancy map of the scene. To this end, a huge synthetic dataset featuring 1M couples of frames, taken from both car dashboard and bird's eye view, has been collected and automatically annotated. A deep-network is then trained to warp detections from the first to the second view. We demonstrate the effectiveness of our model against several baselines and observe that is able to generalize on real-world data despite having been trained solely on synthetic ones.