{"id":"https://openalex.org/W7131676129","doi":"https://doi.org/10.1016/j.eswa.2026.131832","title":"HTMNet: A hybrid transformer-mamba network for LiDAR-based 3D detection and semantic segmentation","display_name":"HTMNet: A hybrid transformer-mamba network for LiDAR-based 3D detection and semantic segmentation","publication_year":2026,"publication_date":"2026-02-27","ids":{"openalex":"https://openalex.org/W7131676129","doi":"https://doi.org/10.1016/j.eswa.2026.131832"},"language":"en","primary_location":{"id":"doi:10.1016/j.eswa.2026.131832","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.eswa.2026.131832","pdf_url":null,"source":{"id":"https://openalex.org/S13144211","display_name":"Expert Systems with Applications","issn_l":"0957-4174","issn":["0957-4174","1873-6793"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Expert Systems with Applications","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041507369","display_name":"Jinzheng Guang","orcid":"https://orcid.org/0000-0003-4972-2023"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinzheng Guang","raw_affiliation_strings":["College of Artificial Intelligence, Nankai University, Tianjin, 300350, China","Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Nankai University, Tianjin, 300350, China","Institute of Robotics and Automatic Information System, Nankai University, Tianjin, 300350, China","Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, 300350, China"],"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Nankai University, Tianjin, 300350, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Nankai University, Tianjin, 300350, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, Nankai University, Tianjin, 300350, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, 300350, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101581028","display_name":"Shichao Wu","orcid":"https://orcid.org/0000-0001-5257-7934"},"institutions":[{"id":"https://openalex.org/I1297991670","display_name":"Southwest University of Science and Technology","ror":"https://ror.org/04d996474","country_code":"CN","type":"education","lineage":["https://openalex.org/I1297991670"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shichao Wu","raw_affiliation_strings":["School of Information Engineering, Southwest University of Science and Technology, Mianyang, 621010, China"],"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Southwest University of Science and Technology, Mianyang, 621010, China","institution_ids":["https://openalex.org/I1297991670"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126862802","display_name":"Yongru Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongru Wang","raw_affiliation_strings":["College of Artificial Intelligence, Nankai University, Tianjin, 300350, China","Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Nankai University, Tianjin, 300350, China","Institute of Robotics and Automatic Information System, Nankai University, Tianjin, 300350, China","Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, 300350, China"],"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Nankai University, Tianjin, 300350, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Nankai University, Tianjin, 300350, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, Nankai University, Tianjin, 300350, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, 300350, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126945194","display_name":"Zhenzhong Cao","orcid":null},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenzhong Cao","raw_affiliation_strings":["College of Artificial Intelligence, Nankai University, Tianjin, 300350, China","Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Nankai University, Tianjin, 300350, China","Institute of Robotics and Automatic Information System, Nankai University, Tianjin, 300350, China","Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, 300350, China"],"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Nankai University, Tianjin, 300350, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Nankai University, Tianjin, 300350, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, Nankai University, Tianjin, 300350, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, 300350, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126865759","display_name":"Xiao Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Wu","raw_affiliation_strings":["College of Artificial Intelligence, Nankai University, Tianjin, 300350, China","Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Nankai University, Tianjin, 300350, China","Institute of Robotics and Automatic Information System, Nankai University, Tianjin, 300350, China","Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, 300350, China"],"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Nankai University, Tianjin, 300350, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Nankai University, Tianjin, 300350, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, Nankai University, Tianjin, 300350, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, 300350, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030233306","display_name":"Jingtai Liu","orcid":"https://orcid.org/0000-0003-2645-5655"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jingtai Liu","raw_affiliation_strings":["College of Artificial Intelligence, Nankai University, Tianjin, 300350, China","Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Nankai University, Tianjin, 300350, China","Institute of Robotics and Automatic Information System, Nankai University, Tianjin, 300350, China","Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, 300350, China"],"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Nankai University, Tianjin, 300350, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Nankai University, Tianjin, 300350, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, Nankai University, Tianjin, 300350, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, 300350, China","institution_ids":["https://openalex.org/I205237279"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5030233306"],"corresponding_institution_ids":["https://openalex.org/I205237279"],"apc_list":{"value":3220,"currency":"USD","value_usd":3220},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.71808843,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"316","issue":null,"first_page":"131832","last_page":"131832"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.5062999725341797,"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":0.5062999725341797,"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":0.15520000457763672,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.09179999679327011,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/point-cloud","display_name":"Point cloud","score":0.7437000274658203},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.7166000008583069},{"id":"https://openalex.org/keywords/block","display_name":"Block (permutation group theory)","score":0.5978000164031982},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5572999715805054},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.5454999804496765},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.46309998631477356},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.43970000743865967},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.43970000743865967},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.4007999897003174},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.3874000012874603}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8974999785423279},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7437000274658203},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.7166000008583069},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6523000001907349},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.5978000164031982},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5572999715805054},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.5454999804496765},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.46309998631477356},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.43970000743865967},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.43970000743865967},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41110000014305115},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.4007999897003174},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.3874000012874603},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.3831000030040741},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.37860000133514404},{"id":"https://openalex.org/C124066611","wikidata":"https://www.wikidata.org/wiki/Q28684319","display_name":"Sparse approximation","level":2,"score":0.37070000171661377},{"id":"https://openalex.org/C2780156472","wikidata":"https://www.wikidata.org/wiki/Q2355550","display_name":"Pedestrian detection","level":3,"score":0.3504999876022339},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.3215999901294708},{"id":"https://openalex.org/C193415008","wikidata":"https://www.wikidata.org/wiki/Q639681","display_name":"Network architecture","level":2,"score":0.31869998574256897},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.3138999938964844},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3009999990463257},{"id":"https://openalex.org/C64754055","wikidata":"https://www.wikidata.org/wiki/Q7574053","display_name":"Spatial contextual awareness","level":2,"score":0.2935999929904938},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.28679999709129333},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.2863999903202057},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.2854999899864197},{"id":"https://openalex.org/C2776821279","wikidata":"https://www.wikidata.org/wiki/Q2293902","display_name":"Mobile mapping","level":3,"score":0.2759999930858612},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2728999853134155},{"id":"https://openalex.org/C88796919","wikidata":"https://www.wikidata.org/wiki/Q1142907","display_name":"Backbone network","level":2,"score":0.2685000002384186},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.26600000262260437},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.26460000872612},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.26420000195503235},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.25540000200271606},{"id":"https://openalex.org/C116409475","wikidata":"https://www.wikidata.org/wiki/Q1385056","display_name":"External Data Representation","level":2,"score":0.25049999356269836}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1016/j.eswa.2026.131832","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.eswa.2026.131832","pdf_url":null,"source":{"id":"https://openalex.org/S13144211","display_name":"Expert Systems with Applications","issn_l":"0957-4174","issn":["0957-4174","1873-6793"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Expert Systems with Applications","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W2115579991","https://openalex.org/W2897529137","https://openalex.org/W3040741167","https://openalex.org/W3144974485","https://openalex.org/W4290958818","https://openalex.org/W4295529465","https://openalex.org/W4296106218","https://openalex.org/W4313306311","https://openalex.org/W4367182782","https://openalex.org/W4388162585","https://openalex.org/W4389210558","https://openalex.org/W4392203547","https://openalex.org/W4393029120","https://openalex.org/W4401109681","https://openalex.org/W4404059357","https://openalex.org/W4405098028","https://openalex.org/W4405285140","https://openalex.org/W4405303790","https://openalex.org/W4405525840","https://openalex.org/W4406471598","https://openalex.org/W4407426013","https://openalex.org/W4408247470","https://openalex.org/W4408519578","https://openalex.org/W4409464412","https://openalex.org/W4410351582","https://openalex.org/W4411920961","https://openalex.org/W7082982503"],"related_works":[],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2026-03-03T06:13:14.889584","created_date":"2026-02-27T00:00:00"}