Today we are sharing a new approach to prediction in dynamic urban driving scenes, one of driving's hardest problems. Our algorithm, FIERY, is able to predict multimodal futures in bird's eye view from monocular cameras. Blog, research paper and code here: wayve.ai/blog/fiery-fut… We use the problem's geometric structure to lift monocular perception features to 3D and apply a conditional variational auto-encoder trained end-to-end for modelling the future distribution.