{"id":"https://openalex.org/W7118190859","doi":"https://doi.org/10.3390/s26010338","title":"HFSA-Net: A 3D Object Detection Network with Structural Encoding and Attention Enhancement for LiDAR Point Clouds","display_name":"HFSA-Net: A 3D Object Detection Network with Structural Encoding and Attention Enhancement for LiDAR Point Clouds","publication_year":2026,"publication_date":"2026-01-05","ids":{"openalex":"https://openalex.org/W7118190859","doi":"https://doi.org/10.3390/s26010338","pmid":"https://pubmed.ncbi.nlm.nih.gov/41516772"},"language":"en","primary_location":{"id":"doi:10.3390/s26010338","doi":"https://doi.org/10.3390/s26010338","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s26010338","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","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3390/s26010338","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027104235","display_name":"Xuehao Yin","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I119203015","display_name":"Shandong University of Technology","ror":"https://ror.org/02mr3ar13","country_code":"CN","type":"education","lineage":["https://openalex.org/I119203015"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuehao Yin","raw_affiliation_strings":["School of Transportation and Vehicle Engineering, Shandong University of Technology, Zibo 255000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Transportation and Vehicle Engineering, Shandong University of Technology, Zibo 255000, China","institution_ids":["https://openalex.org/I119203015"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101304421","display_name":"Zhen Xiao","orcid":"https://orcid.org/0009-0007-4897-7856","observed_orcids":["https://orcid.org/0009-0007-4897-7856"]},"institutions":[{"id":"https://openalex.org/I119203015","display_name":"Shandong University of Technology","ror":"https://ror.org/02mr3ar13","country_code":"CN","type":"education","lineage":["https://openalex.org/I119203015"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhen Xiao","raw_affiliation_strings":["School of Transportation and Vehicle Engineering, Shandong University of Technology, Zibo 255000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Transportation and Vehicle Engineering, Shandong University of Technology, Zibo 255000, China","institution_ids":["https://openalex.org/I119203015"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077303061","display_name":"Jinju Shao","orcid":"https://orcid.org/0009-0006-0352-1671","observed_orcids":["https://orcid.org/0009-0006-0352-1671"]},"institutions":[{"id":"https://openalex.org/I119203015","display_name":"Shandong University of Technology","ror":"https://ror.org/02mr3ar13","country_code":"CN","type":"education","lineage":["https://openalex.org/I119203015"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinju Shao","raw_affiliation_strings":["School of Transportation and Vehicle Engineering, Shandong University of Technology, Zibo 255000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Transportation and Vehicle Engineering, Shandong University of Technology, Zibo 255000, China","institution_ids":["https://openalex.org/I119203015"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133648613","display_name":"Zhimin QIU","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I119203015","display_name":"Shandong University of Technology","ror":"https://ror.org/02mr3ar13","country_code":"CN","type":"education","lineage":["https://openalex.org/I119203015"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhimin Qiu","raw_affiliation_strings":["School of Transportation and Vehicle Engineering, Shandong University of Technology, Zibo 255000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Transportation and Vehicle Engineering, Shandong University of Technology, Zibo 255000, China","institution_ids":["https://openalex.org/I119203015"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5121959353","display_name":"Lei Wang","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lei Wang","raw_affiliation_strings":["Shuntai Automobile Co., Ltd., Zibo 255400, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shuntai Automobile Co., Ltd., Zibo 255400, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5101304421"],"corresponding_institution_ids":["https://openalex.org/I119203015"],"apc_list":{"value":2600,"currency":"CHF","value_usd":3137},"apc_paid":{"value":2600,"currency":"CHF","value_usd":3137},"fwci":3.0877,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.85380927,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":96},"biblio":{"volume":"26","issue":"1","first_page":"338","last_page":"338"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9740999937057495,"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":0.9740999937057495,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.011800000444054604,"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"}},{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.006300000008195639,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/3d-object-detection","display_name":"3D object detection","score":0.9950000047683716},{"id":"https://openalex.org/keywords/lidar-point-cloud","display_name":"LiDAR point cloud","score":0.9959999918937683},{"id":"https://openalex.org/keywords/voxelization","display_name":"voxelization","score":0.5400000214576721},{"id":"https://openalex.org/keywords/attention-mechanism","display_name":"attention mechanism","score":0.7139999866485596},{"id":"https://openalex.org/keywords/multi-scale-context-aggregation","display_name":"multi-scale context aggregation","score":0.7919999957084656},{"id":"https://openalex.org/keywords/feature-pyramid-fusion","display_name":"feature pyramid fusion","score":0.8629999756813049},{"id":"https://openalex.org/keywords/vehicle-perception","display_name":"vehicle perception","score":0.421999990940094},{"id":"https://openalex.org/keywords/low-resolution-lidar","display_name":"low-resolution LiDAR","score":0.7839999794960022},{"id":"https://openalex.org/keywords/kitti-dataset","display_name":"KITTI dataset","score":0.7799999713897705}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.742900013923645},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7414000034332275},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6886000037193298},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6610000133514404},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6029000282287598},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5587000250816345},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5489000082015991},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.5170000195503235},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.49309998750686646},{"id":"https://openalex.org/C142575187","wikidata":"https://www.wikidata.org/wiki/Q3358290","display_name":"Pyramid (geometry)","level":2,"score":0.46239998936653137},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.4553000032901764},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4544000029563904},{"id":"https://openalex.org/C183115368","wikidata":"https://www.wikidata.org/wiki/Q856577","display_name":"Weighting","level":2,"score":0.43479999899864197},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.40380001068115234},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.38499999046325684},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.37049999833106995},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.361299991607666},{"id":"https://openalex.org/C101738243","wikidata":"https://www.wikidata.org/wiki/Q786435","display_name":"Autoencoder","level":3,"score":0.34860000014305115},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.34610000252723694},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.31929999589920044},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.2930000126361847},{"id":"https://openalex.org/C126422989","wikidata":"https://www.wikidata.org/wiki/Q93586","display_name":"Feature detection (computer vision)","level":4,"score":0.2842000126838684},{"id":"https://openalex.org/C203595873","wikidata":"https://www.wikidata.org/wiki/Q25389927","display_name":"Change detection","level":2,"score":0.26759999990463257},{"id":"https://openalex.org/C124066611","wikidata":"https://www.wikidata.org/wiki/Q28684319","display_name":"Sparse approximation","level":2,"score":0.2533000111579895},{"id":"https://openalex.org/C116409475","wikidata":"https://www.wikidata.org/wiki/Q1385056","display_name":"External Data Representation","level":2,"score":0.25040000677108765}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s26010338","doi":"https://doi.org/10.3390/s26010338","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s26010338","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":"pmid:41516772","doi":null,"is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/41516772","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:63d58575e2ad49988c29a81564774e87","doi":null,"is_oa":true,"landing_page_url":"https://doaj.org/article/63d58575e2ad49988c29a81564774e87","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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 26, Iss 1, p 338 (2026)","raw_type":"article"},{"id":"pmh:oai:pubmedcentral.nih.gov:12788202","doi":null,"is_oa":true,"landing_page_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC12788202/","pdf_url":null,"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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s26010338","doi":"https://doi.org/10.3390/s26010338","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s26010338","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":[],"sustainable_development_goals_aurora":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G667022190","display_name":null,"funder_award_id":"ZR2023QE105","funder_id":"https://openalex.org/F4320324174","funder_display_name":"Natural Science Foundation of Shandong Province"}],"funders":[{"id":"https://openalex.org/F4320324174","display_name":"Natural Science Foundation of Shandong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1536680647","https://openalex.org/W2194775991","https://openalex.org/W2555618208","https://openalex.org/W2565639579","https://openalex.org/W2785825007","https://openalex.org/W2897529137","https://openalex.org/W2905076052","https://openalex.org/W2949708697","https://openalex.org/W2963150697","https://openalex.org/W2963351448","https://openalex.org/W2963727135","https://openalex.org/W3034314779","https://openalex.org/W3034681945","https://openalex.org/W3035502324","https://openalex.org/W3040318838","https://openalex.org/W3080980548","https://openalex.org/W3105126405","https://openalex.org/W3167095230","https://openalex.org/W3177052299","https://openalex.org/W3204896784","https://openalex.org/W4214755140","https://openalex.org/W4281773987","https://openalex.org/W4285595616","https://openalex.org/W4292600721","https://openalex.org/W4396666688","https://openalex.org/W4410901279","https://openalex.org/W4411094353","https://openalex.org/W4415008608"],"related_works":[],"abstract_inverted_index":{"The":[0],"inherent":[1],"sparsity":[2],"of":[3,180],"LiDAR":[4,176],"point":[5,41],"cloud":[6],"data":[7],"presents":[8],"a":[9,64,88,95,101,118,170,174],"fundamental":[10],"challenge":[11],"for":[12,131],"3D":[13,57,186],"object":[14,58],"detection.":[15],"During":[16],"the":[17,32,72,125,146,151,155,164,178,181],"feature":[18,74,78,136],"encoding":[19],"stage,":[20],"especially":[21],"in":[22,38,44,184],"voxelization,":[23],"existing":[24],"methods":[25],"find":[26],"it":[27,86],"difficult":[28],"to":[29,105,123,163],"effectively":[30],"retain":[31],"critical":[33],"geometric":[34,115],"structural":[35],"information":[36,141],"contained":[37],"these":[39],"sparse":[40],"clouds,":[42],"resulting":[43],"decreased":[45],"detection":[46,59,187],"performance.":[47],"To":[48],"address":[49],"this":[50,52],"problem,":[51],"paper":[53],"proposes":[54],"an":[55],"enhanced":[56],"framework.":[60],"It":[61],"first":[62],"designs":[63],"Structured":[65],"Voxel":[66],"Feature":[67],"Encoder":[68],"that":[69,150],"significantly":[70],"enhances":[71],"initial":[73],"representation":[75],"through":[76],"intra-voxel":[77],"refinement":[79],"and":[80,100,109,114,128,139,189],"multi-scale":[81],"neighborhood":[82],"context":[83],"aggregation.":[84],"Second,":[85],"constructs":[87],"Hybrid-Domain":[89],"Attention-Guided":[90],"Sparse":[91],"Backbone,":[92],"which":[93],"introduces":[94],"decoupled":[96],"hybrid":[97],"attention":[98],"mechanism":[99],"hierarchical":[102],"integration":[103],"strategy":[104],"realize":[106],"dynamic":[107],"weighting":[108],"focusing":[110],"on":[111,145,169],"key":[112],"semantic":[113],"features.":[116],"Finally,":[117],"Scale-Aggregation":[119],"Head":[120],"is":[121],"proposed":[122,152,182],"improve":[124],"model's":[126],"perception":[127],"localization":[129],"capabilities":[130],"different-sized":[132],"objects":[133],"via":[134],"multi-level":[135],"pyramid":[137],"fusion":[138],"cross-layer":[140],"interaction.":[142],"Experimental":[143],"results":[144],"KITTI":[147],"dataset":[148],"show":[149],"algorithm":[153],"increases":[154],"mean":[156],"Average":[157],"Precision":[158],"(mAP)":[159],"by":[160],"3.34%":[161],"compared":[162],"baseline":[165],"model.":[166],"Moreover,":[167],"experiments":[168],"vehicle":[171],"platform":[172],"with":[173],"lower-resolution":[175],"verify":[177],"effectiveness":[179],"method":[183],"improving":[185],"accuracy":[188],"its":[190],"generalization":[191],"ability.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-10-15T10:00:46.086208","created_date":"2026-01-05T00:00:00"}
