{"id":"https://openalex.org/W7134251054","doi":"https://doi.org/10.1049/cit2.70118","title":"Transformation\u2010Equivariant Network Fused With Multi\u2010Stage Cascade Attention for Point Cloud Object Detection","display_name":"Transformation\u2010Equivariant Network Fused With Multi\u2010Stage Cascade Attention for Point Cloud Object Detection","publication_year":2026,"publication_date":"2026-03-07","ids":{"openalex":"https://openalex.org/W7134251054","doi":"https://doi.org/10.1049/cit2.70118"},"language":"en","primary_location":{"id":"doi:10.1049/cit2.70118","is_oa":true,"landing_page_url":"https://doi.org/10.1049/cit2.70118","pdf_url":null,"source":{"id":"https://openalex.org/S2898415742","display_name":"CAAI Transactions on Intelligence Technology","issn_l":"2468-2322","issn":["2468-2322","2468-6557"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310311714","host_organization_name":"Institution of Engineering and Technology","host_organization_lineage":["https://openalex.org/P4310311714"],"host_organization_lineage_names":["Institution of Engineering and Technology"],"type":"journal"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"CAAI Transactions on Intelligence Technology","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1049/cit2.70118","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020280128","display_name":"Jianmin Wu","orcid":"https://orcid.org/0000-0002-0999-9194"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiangdong Wu","raw_affiliation_strings":["School of Mechanical Engineering Shanghai Jiao Tong University  Shanghai China","State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University  Shanghai China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering Shanghai Jiao Tong University  Shanghai China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University  Shanghai China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128541421","display_name":"Qun Chao","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qun Chao","raw_affiliation_strings":["School of Mechanical Engineering Shanghai Jiao Tong University  Shanghai China","State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University  Shanghai China"],"raw_orcid":"https://orcid.org/0000-0002-7385-9460","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering Shanghai Jiao Tong University  Shanghai China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University  Shanghai China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039592808","display_name":"Yintai Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yintai Wang","raw_affiliation_strings":["School of Mechanical Engineering Shanghai Jiao Tong University  Shanghai China","State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University  Shanghai China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering Shanghai Jiao Tong University  Shanghai China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University  Shanghai China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hongyuan Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I4210126406","display_name":"Xuzhou Construction Machinery Group (China)","ror":"https://ror.org/02y5rmj89","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210126406"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongyuan Sun","raw_affiliation_strings":["Intelligent Digitalization Academy XCMG Research Institute  Xuzhou China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Digitalization Academy XCMG Research Institute  Xuzhou China","institution_ids":["https://openalex.org/I4210126406"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128571298","display_name":"Tengfei Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210126406","display_name":"Xuzhou Construction Machinery Group (China)","ror":"https://ror.org/02y5rmj89","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210126406"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tengfei Zhang","raw_affiliation_strings":["Intelligent Digitalization Academy XCMG Research Institute  Xuzhou China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Digitalization Academy XCMG Research Institute  Xuzhou China","institution_ids":["https://openalex.org/I4210126406"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5125692912","display_name":"Chengliang Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengliang Liu","raw_affiliation_strings":["School of Mechanical Engineering Shanghai Jiao Tong University  Shanghai China","State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University  Shanghai China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering Shanghai Jiao Tong University  Shanghai China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University  Shanghai China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5128541421"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":{"value":2200,"currency":"USD","value_usd":2200},"apc_paid":{"value":2200,"currency":"USD","value_usd":2200},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.20933041,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"2","first_page":"564","last_page":"577"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12597","display_name":"Fire Detection and Safety Systems","score":0.4375,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12597","display_name":"Fire Detection and Safety Systems","score":0.4375,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"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/T10036","display_name":"Advanced Neural Network Applications","score":0.21619999408721924,"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":0.023000000044703484,"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/object-detection","display_name":"Object detection","score":0.7141000032424927},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6564000248908997},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6534000039100647},{"id":"https://openalex.org/keywords/cascade","display_name":"Cascade","score":0.5936999917030334},{"id":"https://openalex.org/keywords/minimum-bounding-box","display_name":"Minimum bounding box","score":0.5557000041007996},{"id":"https://openalex.org/keywords/firefighting","display_name":"Firefighting","score":0.46720001101493835},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.45339998602867126},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.4302000105381012}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7261999845504761},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.7141000032424927},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6564000248908997},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6534000039100647},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6316999793052673},{"id":"https://openalex.org/C34146451","wikidata":"https://www.wikidata.org/wiki/Q5048094","display_name":"Cascade","level":2,"score":0.5936999917030334},{"id":"https://openalex.org/C147037132","wikidata":"https://www.wikidata.org/wiki/Q6865426","display_name":"Minimum bounding box","level":3,"score":0.5557000041007996},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4699000120162964},{"id":"https://openalex.org/C557531904","wikidata":"https://www.wikidata.org/wiki/Q897825","display_name":"Firefighting","level":2,"score":0.46720001101493835},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.45339998602867126},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.4302000105381012},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.420199990272522},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4169999957084656},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.38350000977516174},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.3702000081539154},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.3573000133037567},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.3352000117301941},{"id":"https://openalex.org/C88796919","wikidata":"https://www.wikidata.org/wiki/Q1142907","display_name":"Backbone network","level":2,"score":0.2935999929904938},{"id":"https://openalex.org/C124066611","wikidata":"https://www.wikidata.org/wiki/Q28684319","display_name":"Sparse approximation","level":2,"score":0.29319998621940613},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.2872999906539917}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1049/cit2.70118","is_oa":true,"landing_page_url":"https://doi.org/10.1049/cit2.70118","pdf_url":null,"source":{"id":"https://openalex.org/S2898415742","display_name":"CAAI Transactions on Intelligence Technology","issn_l":"2468-2322","issn":["2468-2322","2468-6557"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310311714","host_organization_name":"Institution of Engineering and Technology","host_organization_lineage":["https://openalex.org/P4310311714"],"host_organization_lineage_names":["Institution of Engineering and Technology"],"type":"journal"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"CAAI Transactions on Intelligence Technology","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:456300ba39ca4fb194af1fabe622514e","is_oa":true,"landing_page_url":"https://doaj.org/article/456300ba39ca4fb194af1fabe622514e","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,"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":"CAAI Transactions on Intelligence Technology, Vol 11, Iss 2, Pp 564-577 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1049/cit2.70118","is_oa":true,"landing_page_url":"https://doi.org/10.1049/cit2.70118","pdf_url":null,"source":{"id":"https://openalex.org/S2898415742","display_name":"CAAI Transactions on Intelligence Technology","issn_l":"2468-2322","issn":["2468-2322","2468-6557"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310311714","host_organization_name":"Institution of Engineering and Technology","host_organization_lineage":["https://openalex.org/P4310311714"],"host_organization_lineage_names":["Institution of Engineering and Technology"],"type":"journal"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"CAAI Transactions on Intelligence Technology","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3008859744","display_name":null,"funder_award_id":"2022YFD2000400","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W2150066425","https://openalex.org/W2769152880","https://openalex.org/W2897529137","https://openalex.org/W2943659362","https://openalex.org/W2949708697","https://openalex.org/W2963182550","https://openalex.org/W2964241181","https://openalex.org/W2964297960","https://openalex.org/W2968296999","https://openalex.org/W2989676862","https://openalex.org/W3008105217","https://openalex.org/W3034314779","https://openalex.org/W3035346742","https://openalex.org/W3118341329","https://openalex.org/W3118427100","https://openalex.org/W3118576642","https://openalex.org/W3120153504","https://openalex.org/W3134233478","https://openalex.org/W3170033848","https://openalex.org/W3176751833","https://openalex.org/W3178544809","https://openalex.org/W4221143040","https://openalex.org/W4293811845","https://openalex.org/W4310011889","https://openalex.org/W4312541503","https://openalex.org/W4312799694","https://openalex.org/W4382240183","https://openalex.org/W4386065453","https://openalex.org/W4386076253","https://openalex.org/W4387611082","https://openalex.org/W4389776357","https://openalex.org/W4390120015","https://openalex.org/W4390120069","https://openalex.org/W4390658379","https://openalex.org/W4399564501","https://openalex.org/W4406445277","https://openalex.org/W4408804353","https://openalex.org/W4409690907","https://openalex.org/W4410461404","https://openalex.org/W4411772637"],"related_works":[],"abstract_inverted_index":{"ABSTRACT":[0],"Object":[1],"detection":[2,33,56,113,151,164],"of":[3,181],"unmanned":[4,182],"firefighting":[5,131,168,183],"vehicles":[6],"faces":[7],"challenges":[8],"such":[9],"as":[10],"strong":[11],"electromagnetic":[12],"interference,":[13],"drastic":[14],"lighting":[15],"changes":[16],"and":[17,106,117,128,137,160,175],"dynamic":[18],"object":[19,32,75],"variations.":[20],"To":[21],"address":[22,99],"these":[23],"issues,":[24],"we":[25],"propose":[26],"a":[27,66,129],"two\u2010stage":[28],"3D":[29,150],"point":[30,109],"cloud":[31],"algorithm":[34,136,146],"called":[35],"TED\u2010CasA\u2010Fusion.":[36],"The":[37,62],"first":[38],"stage":[39,64,92],"uses":[40],"the":[41,90,125,134,144,148,157,167],"transformation\u2010equivariant":[42],"detector":[43],"backbone":[44],"that":[45,72,143],"explicitly":[46],"models":[47],"rotation/reflection":[48],"equivariance":[49],"via":[50],"weight\u2010sharing":[51],"sparse":[52,107,118],"convolutions,":[53],"which":[54,81],"improves":[55],"robustness":[57],"to":[58,98,103,178],"dynamically":[59],"transformed":[60],"objects.":[61,88],"second":[63,91],"introduces":[65],"cascade":[67,78],"attention\u2010based":[68],"multistage":[69],"refinement":[70],"network":[71],"aggregates":[73],"cross\u2010stage":[74],"features":[76],"through":[77],"attention":[79],"modules,":[80],"effectively":[82],"enhances":[83],"feature":[84],"representation":[85],"for":[86,115,153],"multiscale":[87],"Furthermore,":[89],"integrates":[93],"weighted":[94],"bounding":[95],"box":[96],"voting":[97],"training":[100],"imbalance":[101],"due":[102],"dense":[104],"nearby":[105],"distant":[108,116],"distributions,":[110],"thereby":[111],"improving":[112],"accuracy":[114,152],"targets.":[119],"Comparative":[120],"experiments":[121],"were":[122],"conducted":[123],"on":[124,156,166],"KITTI":[126,158],"dataset":[127,132,159],"self\u2010collected":[130],"between":[133],"proposed":[135,145],"some":[138],"state\u2010of\u2010the\u2010art":[139],"algorithms.":[140],"Results":[141],"show":[142],"achieves":[147],"best":[149],"hard\u2010category":[154],"objects":[155],"also":[161],"outperforms":[162],"other":[163],"approaches":[165],"dataset.":[169],"This":[170],"work":[171],"offers":[172],"an":[173],"efficient":[174],"reliable":[176],"solution":[177],"environmental":[179],"perception":[180],"vehicles.":[184]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2026-03-10T00:00:00"}
