{"id":"https://openalex.org/W4392097054","doi":"https://doi.org/10.3390/s24051458","title":"Pre-Segmented Down-Sampling Accelerates Graph Neural Network-Based 3D Object Detection in Autonomous Driving","display_name":"Pre-Segmented Down-Sampling Accelerates Graph Neural Network-Based 3D Object Detection in Autonomous Driving","publication_year":2024,"publication_date":"2024-02-23","ids":{"openalex":"https://openalex.org/W4392097054","doi":"https://doi.org/10.3390/s24051458","pmid":"https://pubmed.ncbi.nlm.nih.gov/38474994","pmcid":"https://www.ncbi.nlm.nih.gov/pmc/articles/10934771"},"language":"en","primary_location":{"id":"doi:10.3390/s24051458","doi":"https://doi.org/10.3390/s24051458","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24051458","pdf_url":null,"source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-scientific","cwts-core","doaj","jufo-1","medline","norway-1","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3390/s24051458","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017493307","display_name":"Zhenming Liang","orcid":"https://orcid.org/0000-0003-1742-2579","observed_orcids":["https://orcid.org/0000-0003-1742-2579"]},"institutions":[{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenming Liang","raw_affiliation_strings":["School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China"],"raw_orcid":"https://orcid.org/0000-0003-1742-2579","affiliations":[{"raw_affiliation_string":"School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China","institution_ids":["https://openalex.org/I148128674"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101492678","display_name":"Yingping Huang","orcid":"https://orcid.org/0000-0002-5861-2304","observed_orcids":["https://orcid.org/0000-0002-5861-2304"]},"institutions":[{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yingping Huang","raw_affiliation_strings":["School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China","institution_ids":["https://openalex.org/I148128674"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101308533","display_name":"Yanbiao Bai","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanbiao Bai","raw_affiliation_strings":["School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China","institution_ids":["https://openalex.org/I148128674"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5101492678"],"corresponding_institution_ids":["https://openalex.org/I148128674"],"apc_list":{"value":2600,"currency":"CHF","value_usd":2955},"apc_paid":{"value":2600,"currency":"CHF","value_usd":2955},"fwci":0.853,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.68935898,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":97},"biblio":{"volume":"24","issue":"5","first_page":"1458","last_page":"1458"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.8539999723434448,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.8539999723434448,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.09019999951124191,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.02810000069439411,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/graph-neural-networks","display_name":"graph neural networks","score":0.9610000252723694},{"id":"https://openalex.org/keywords/3d-object-detection","display_name":"3D object detection","score":0.9980000257492065},{"id":"https://openalex.org/keywords/lidar-point-cloud","display_name":"LiDAR point cloud","score":0.9599999785423279},{"id":"https://openalex.org/keywords/downsampling","display_name":"downsampling","score":0.8360000252723694},{"id":"https://openalex.org/keywords/computational-efficiency","display_name":"computational efficiency","score":0.6819999814033508},{"id":"https://openalex.org/keywords/autonomous-driving","display_name":"autonomous driving","score":0.8659999966621399},{"id":"https://openalex.org/keywords/kitti-dataset","display_name":"KITTI dataset","score":0.765999972820282}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8676841855049133},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7776526212692261},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.755776584148407},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.6852120161056519},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6485545635223389},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5802528858184814},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.573033332824707},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.562969982624054},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.517848789691925},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.4838801622390747},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.46380993723869324},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3893342912197113},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.25401026010513306},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.23608458042144775},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08313092589378357},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.07881385087966919},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s24051458","doi":"https://doi.org/10.3390/s24051458","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24051458","pdf_url":null,"source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-scientific","cwts-core","doaj","jufo-1","medline","norway-1","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmh:oai:pubmedcentral.nih.gov:10934771","doi":null,"is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10934771","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10934771/pdf/","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel)","raw_type":"Text"},{"id":"pmid:38474994","doi":null,"is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38474994","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":"Journal Article"},{"id":"pmh:oai:doaj.org/article:8b86a6e781424ddb9a3465caae77a2ee","doi":null,"is_oa":false,"landing_page_url":"https://doaj.org/article/8b86a6e781424ddb9a3465caae77a2ee","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 24, Iss 5, p 1458 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s24051458","doi":"https://doi.org/10.3390/s24051458","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24051458","pdf_url":null,"source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-scientific","cwts-core","doaj","jufo-1","medline","norway-1","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G2106145783","display_name":"\u57fa\u4e8e\u8d1d\u53f6\u65af\u6570\u636e\u878d\u5408\u7684\u8f66\u8f7d\u591a\u7c7b\u578b\u969c\u788d\u7269\u63a2\u6d4b\u548c\u8fa8\u8bc6\u65b9\u6cd5\u7814\u7a76","funder_award_id":"61374197","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4587653894","display_name":null,"funder_award_id":"20ZR1437900","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7276024936","display_name":null,"funder_award_id":"20ZR1437900","funder_id":"https://openalex.org/F4320321885","funder_display_name":"Science and Technology Commission of Shanghai Municipality"},{"id":"https://openalex.org/G976504836","display_name":null,"funder_award_id":"61374197","funder_id":"https://openalex.org/F4320321885","funder_display_name":"Science and Technology Commission of Shanghai Municipality"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321885","display_name":"Science and Technology Commission of Shanghai Municipality","ror":"https://ror.org/03kt66j61"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4392097054.pdf","grobid_xml":"https://content.openalex.org/works/W4392097054.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W2555618208","https://openalex.org/W2558294288","https://openalex.org/W2769205412","https://openalex.org/W2782298334","https://openalex.org/W2798965597","https://openalex.org/W2897529137","https://openalex.org/W2905076052","https://openalex.org/W2907492528","https://openalex.org/W2949708697","https://openalex.org/W2950642167","https://openalex.org/W2963438049","https://openalex.org/W2963727135","https://openalex.org/W2979750740","https://openalex.org/W2981949127","https://openalex.org/W3033591146","https://openalex.org/W3034314779","https://openalex.org/W3034681945","https://openalex.org/W3035346742","https://openalex.org/W3177276051","https://openalex.org/W4310078553","https://openalex.org/W4312934050","https://openalex.org/W4382240183","https://openalex.org/W6778791504","https://openalex.org/W6847072175"],"related_works":["https://openalex.org/W4306319959","https://openalex.org/W7130555145","https://openalex.org/W4316372944","https://openalex.org/W4288701775","https://openalex.org/W4362605311","https://openalex.org/W7221658029","https://openalex.org/W3085141539","https://openalex.org/W3117805350","https://openalex.org/W4308211562","https://openalex.org/W3034681945"],"abstract_inverted_index":{"Graph":[0],"neural":[1],"networks":[2],"(GNNs)":[3],"have":[4],"been":[5],"proven":[6],"to":[7,12,51,75,78],"be":[8],"an":[9,76],"ideal":[10],"approach":[11],"deal":[13],"with":[14],"irregular":[15],"point":[16,36,101,145,155],"clouds,":[17],"but":[18,59],"involve":[19],"massive":[20],"computations":[21],"for":[22,181],"searching":[23],"neighboring":[24],"points":[25,112,118],"in":[26,33,46],"the":[27,53,57,60,67,70,81,85,115,120,124,128,151,163,167,174],"graph,":[28],"which":[29,73],"limits":[30],"their":[31,90],"application":[32],"large-scale":[34],"LiDAR":[35,71,100,154],"cloud":[37,102,156],"processing.":[38],"Down-sampling":[39],"is":[40],"a":[41,99],"straightforward":[42],"and":[43,147,173,179],"indispensable":[44],"step":[45],"current":[47],"GNN-based":[48,139],"3D":[49,133,140,169,184],"detectors":[50],"reduce":[52,110],"computational":[54,82,125],"burden":[55],"of":[56,69,84,127],"model,":[58],"commonly":[61],"used":[62],"down-sampling":[63,104],"methods":[64],"cannot":[65],"distinguish":[66],"categories":[68],"points,":[72],"leads":[74],"inability":[77],"effectively":[79],"improve":[80],"efficiency":[83,126,180],"GNN":[86],"models":[87],"without":[88,130,158],"affecting":[89,131],"detection":[91,134],"accuracy.":[92,135],"In":[93],"this":[94],"paper,":[95],"we":[96],"propose":[97],"(1)":[98],"pre-segmented":[103],"(PSD)":[105],"method":[106],"that":[107,142],"can":[108,143],"selectively":[109],"background":[111],"while":[113],"preserving":[114],"foreground":[116],"object":[117,185],"during":[119],"process,":[121],"greatly":[122],"improving":[123],"model":[129,165],"its":[132,177],"(2)":[136],"A":[137],"lightweight":[138],"detector":[141],"extract":[144],"features":[146],"detect":[148],"objects":[149],"from":[150],"raw":[152],"down-sampled":[153],"directly":[157],"any":[159],"pre-transformation.":[160],"We":[161],"test":[162],"proposed":[164],"on":[166],"KITTI":[168],"Object":[170],"Detection":[171],"Benchmark,":[172],"results":[175],"demonstrate":[176],"effectiveness":[178],"autonomous":[182],"driving":[183],"detection.":[186]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1}],"updated_date":"2026-11-12T12:28:57.059296","created_date":"2024-02-24T00:00:00"}
