Autonomous driving requires accurate and detailed Bird's Eye View (BEV) semantic segmentation for decision making, which is one of the most challenging tasks for high-level scene perception. Feature transformation from frontal view to BEV is the pivotal technology for BEV semantic segmentation. Existing works can be roughly classified into two categories, i.e., Camera model-Based Feature Transformation (CBFT) and Camera model-Free Feature Transformation (CFFT). In this paper, we empirically analyze the vital differences between CBFT and CFFT. The former transforms features based on the flat-world assumption, which may cause distortion of regions lying above the ground plane. The latter is limited in the segmentation performance due to the absence of geometric priors and time-consuming computation. In order to reap the benefits and avoid the drawbacks of CBFT and CFFT, we propose a novel framework with a Hybrid Feature Transformation module (HFT). Specifically, we decouple the feature maps produced by HFT for estimating the layout of outdoor scenes in BEV. Furthermore, we design a mutual learning scheme to augment hybrid transformation by applying feature mimicking. Notably, extensive experiments demonstrate that with negligible extra overhead, HFT achieves a relative improvement of 13.3% on the Argoverse dataset and 16.8% on the KITTI 3D Object datasets compared to the best-performing existing method. The codes are available at https://github.com/JiayuZou2020/HFT.

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Vision transformers have recently gained great success on various computer vision tasks; nevertheless, their high model complexity makes it challenging to deploy on resource-constrained devices. Quantization is an effective approach to reduce model complexity, and data-free quantization, which can address data privacy and security concerns during model deployment, has received widespread interest. Unfortunately, all existing methods, such as BN regularization, were designed for convolutional neural networks and cannot be applied to vision transformers with significantly different model architectures. In this paper, we propose PSAQ-ViT, a Patch Similarity Aware data-free Quantization framework for Vision Transformers, to enable the generation of "realistic" samples based on the vision transformer's unique properties for calibrating the quantization parameters. Specifically, we analyze the selfattention module's properties and reveal a general difference (patch similarity) in its processing of Gaussian noise and real images. The above insights guide us to design a relative value metric to optimize the Gaussian noise to approximate the real images, which are then utilized to calibrate the quantization parameters. Extensive experiments and ablation studies are conducted on various benchmarks to validate the effectiveness of PSAQ-ViT, which can even outperform the real-data-driven methods.