{"id":"https://openalex.org/W3202771725","doi":"https://doi.org/10.1109/access.2021.3115664","title":"Ground Segmentation Algorithm for Sloped Terrain and Sparse LiDAR Point Cloud","display_name":"Ground Segmentation Algorithm for Sloped Terrain and Sparse LiDAR Point Cloud","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3202771725","doi":"https://doi.org/10.1109/access.2021.3115664","mag":"3202771725"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3115664","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3115664","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09548034.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09548034.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5016783277","display_name":"V\u00edctor Jim\u00e9nez","orcid":"https://orcid.org/0000-0003-1197-0937"},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"V\u00edctor Jim\u00e9nez","raw_affiliation_strings":["Centre for Automation and Robotics (CSIC-UPM), Arganda del Rey, Spain","Centre for Automation and Robotics (CSIC-UPM), Ctra. Campo Real, Km 0.200, Arganda del Rey -28500 Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Centre for Automation and Robotics (CSIC-UPM), Arganda del Rey, Spain","institution_ids":["https://openalex.org/I4210125392"]},{"raw_affiliation_string":"Centre for Automation and Robotics (CSIC-UPM), Ctra. Campo Real, Km 0.200, Arganda del Rey -28500 Madrid, Spain","institution_ids":["https://openalex.org/I4210125392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065896680","display_name":"Jorge Godoy","orcid":"https://orcid.org/0000-0002-3132-5348"},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jorge Godoy","raw_affiliation_strings":["Centre for Automation and Robotics (CSIC-UPM), Arganda del Rey, Spain","Centre for Automation and Robotics (CSIC-UPM), Ctra. Campo Real, Km 0.200, Arganda del Rey - 28500 Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Centre for Automation and Robotics (CSIC-UPM), Arganda del Rey, Spain","institution_ids":["https://openalex.org/I4210125392"]},{"raw_affiliation_string":"Centre for Automation and Robotics (CSIC-UPM), Ctra. Campo Real, Km 0.200, Arganda del Rey - 28500 Madrid, Spain","institution_ids":["https://openalex.org/I4210125392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018205809","display_name":"Antonio Artu\u00f1edo","orcid":"https://orcid.org/0000-0003-2161-9876"},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Antonio Artu\u00f1edo","raw_affiliation_strings":["Centre for Automation and Robotics (CSIC-UPM), Arganda del Rey, Spain","Centre for Automation and Robotics (CSIC-UPM), Ctra. Campo Real, Km 0.200, Arganda del Rey - 28500 Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Centre for Automation and Robotics (CSIC-UPM), Arganda del Rey, Spain","institution_ids":["https://openalex.org/I4210125392"]},{"raw_affiliation_string":"Centre for Automation and Robotics (CSIC-UPM), Ctra. Campo Real, Km 0.200, Arganda del Rey - 28500 Madrid, Spain","institution_ids":["https://openalex.org/I4210125392"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067242816","display_name":"Jorge Villagr\u00e1","orcid":"https://orcid.org/0000-0002-3963-7952"},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jorge Villagra","raw_affiliation_strings":["Centre for Automation and Robotics (CSIC-UPM), Arganda del Rey, Spain","Centre for Automation and Robotics (CSIC-UPM), Ctra. Campo Real, Km 0.200, Arganda del Rey - 28500 Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Centre for Automation and Robotics (CSIC-UPM), Arganda del Rey, Spain","institution_ids":["https://openalex.org/I4210125392"]},{"raw_affiliation_string":"Centre for Automation and Robotics (CSIC-UPM), Ctra. Campo Real, Km 0.200, Arganda del Rey - 28500 Madrid, Spain","institution_ids":["https://openalex.org/I4210125392"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5016783277"],"corresponding_institution_ids":["https://openalex.org/I4210125392"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":2.0107,"has_fulltext":true,"cited_by_count":33,"citation_normalized_percentile":{"value":0.85117339,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"9","issue":null,"first_page":"132914","last_page":"132927"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.993399977684021,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T14339","display_name":"Image Processing and 3D Reconstruction","score":0.9803000092506409,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.8212924003601074},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7643730640411377},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6669106483459473},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6304934024810791},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.54273521900177},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.4602884352207184},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.45926985144615173},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.44503650069236755},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.43118488788604736},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.4297715127468109},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3296447992324829},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3228400945663452},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2932145297527313},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12288957834243774},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09640634059906006},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.0782616138458252},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.056786686182022095}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8212924003601074},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7643730640411377},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6669106483459473},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6304934024810791},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.54273521900177},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4602884352207184},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.45926985144615173},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.44503650069236755},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.43118488788604736},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.4297715127468109},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3296447992324829},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3228400945663452},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2932145297527313},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12288957834243774},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09640634059906006},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0782616138458252},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.056786686182022095},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2021.3115664","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3115664","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09548034.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:digital.csic.es:10261/304512","is_oa":true,"landing_page_url":"http://hdl.handle.net/10261/304512","pdf_url":"https://digital.csic.es/bitstream/10261/304512/1/Ground_Segmentation_Algorithm_for_Sloped_Terrain_a.pdf","source":{"id":"https://openalex.org/S4306400616","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"art\u00edculo"},{"id":"pmh:oai:doaj.org/article:8dbf635cd0944b3588cf56ea5aaf5996","is_oa":true,"landing_page_url":"https://doaj.org/article/8dbf635cd0944b3588cf56ea5aaf5996","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 9, Pp 132914-132927 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3115664","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3115664","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09548034.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6800000071525574}],"awards":[{"id":"https://openalex.org/G1286296525","display_name":null,"funder_award_id":"783119","funder_id":"https://openalex.org/F4320327207","funder_display_name":"Electronic Components and Systems for European Leadership"},{"id":"https://openalex.org/G1744376277","display_name":null,"funder_award_id":"S2018-EMT-4362","funder_id":"https://openalex.org/F4320322930","funder_display_name":"Ministerio de Ciencia e Innovaci\u00f3n"},{"id":"https://openalex.org/G2081305583","display_name":null,"funder_award_id":"PCI2018-093144","funder_id":"https://openalex.org/F4320315062","funder_display_name":"Ministerio de Ciencia, Innovaci\u00f3n y Universidades"},{"id":"https://openalex.org/G4723255008","display_name":null,"funder_award_id":"783190","funder_id":"https://openalex.org/F4320327207","funder_display_name":"Electronic Components and Systems for European Leadership"},{"id":"https://openalex.org/G4862724227","display_name":null,"funder_award_id":"78319","funder_id":"https://openalex.org/F4320327207","funder_display_name":"Electronic Components and Systems for European Leadership"},{"id":"https://openalex.org/G5854360794","display_name":null,"funder_award_id":"S2018-EMT-4362","funder_id":"https://openalex.org/F4320313831","funder_display_name":"Comunidad de Madrid"},{"id":"https://openalex.org/G669439031","display_name":null,"funder_award_id":"783119","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G7445864139","display_name":null,"funder_award_id":"SEGVAUTO 4.0-CM","funder_id":"https://openalex.org/F4320313831","funder_display_name":"Comunidad de Madrid"},{"id":"https://openalex.org/G8051717526","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G8389782976","display_name":null,"funder_award_id":"783190","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320313831","display_name":"Comunidad de Madrid","ror":null},{"id":"https://openalex.org/F4320315062","display_name":"Ministerio de Ciencia, Innovaci\u00f3n y Universidades","ror":null},{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320322930","display_name":"Ministerio de Ciencia e Innovaci\u00f3n","ror":"https://ror.org/034900433"},{"id":"https://openalex.org/F4320327207","display_name":"Electronic Components and Systems for European Leadership","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3202771725.pdf","grobid_xml":"https://content.openalex.org/works/W3202771725.grobid-xml"},"referenced_works_count":45,"referenced_works":["https://openalex.org/W1510068961","https://openalex.org/W1971861370","https://openalex.org/W1976306417","https://openalex.org/W2009278230","https://openalex.org/W2032036355","https://openalex.org/W2037227137","https://openalex.org/W2051610568","https://openalex.org/W2053101740","https://openalex.org/W2077057258","https://openalex.org/W2102691275","https://openalex.org/W2108897342","https://openalex.org/W2133476816","https://openalex.org/W2135873867","https://openalex.org/W2143146388","https://openalex.org/W2154844948","https://openalex.org/W2165949176","https://openalex.org/W2171541387","https://openalex.org/W2175683840","https://openalex.org/W2261350786","https://openalex.org/W2436494909","https://openalex.org/W2588908148","https://openalex.org/W2737444374","https://openalex.org/W2737777104","https://openalex.org/W2741148211","https://openalex.org/W2741560390","https://openalex.org/W2784087675","https://openalex.org/W2883244813","https://openalex.org/W2905547042","https://openalex.org/W2946997817","https://openalex.org/W2963157317","https://openalex.org/W2963459246","https://openalex.org/W2981319334","https://openalex.org/W3004367333","https://openalex.org/W3016600231","https://openalex.org/W3035574168","https://openalex.org/W3100435238","https://openalex.org/W3103973397","https://openalex.org/W3109458255","https://openalex.org/W3129901004","https://openalex.org/W3158765037","https://openalex.org/W3160898188","https://openalex.org/W6630463029","https://openalex.org/W6741708707","https://openalex.org/W6760782946","https://openalex.org/W6769741588"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W4406302447","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W4399442168","https://openalex.org/W2114282491","https://openalex.org/W1522196789"],"abstract_inverted_index":{"Distinguishing":[0],"obstacles":[1],"from":[2],"ground":[3,69,110,136],"is":[4,33,85,104,118],"an":[5,82,143,209],"essential":[6],"step":[7],"for":[8,68],"common":[9],"perception":[10],"tasks":[11],"such":[12],"as":[13,112],"object":[14],"detection-and-tracking":[15],"or":[16,26,40,183],"occupancy":[17],"grid":[18],"maps.":[19],"Typical":[20],"approaches":[21],"rely":[22,57],"on":[23,58],"plane":[24],"fitting":[25],"local":[27,59,160],"geometric":[28,60,95,161],"features,":[29],"but":[30,55],"their":[31,131],"performance":[32,226],"reduced":[34],"in":[35,71,90,227],"situations":[36],"with":[37,133,174,199,218],"sloped":[38],"terrain":[39],"sparse":[41,190],"data.":[42],"Some":[43],"works":[44],"address":[45],"these":[46,56],"issues":[47],"using":[48,120,142,170],"Markov":[49,114,149],"Random":[50,115,150],"Fields":[51],"and":[52,93,208],"Belief":[53,123],"Propagation,":[54],"features":[61,96,162],"uniquely.":[62],"This":[63],"article":[64],"presents":[65],"a":[66,113,153,171,224,228],"strategy":[67],"segmentation":[70],"LiDAR":[72,193],"point":[73,194],"clouds":[74],"composed":[75],"by":[76],"two":[77,200],"main":[78],"steps:":[79],"(i)":[80],"First,":[81],"initial":[83,102,144],"classification":[84,103],"performed":[86],"dividing":[87],"the":[88,108,121,134,148,157,167],"points":[89],"small":[91],"groups":[92],"analyzing":[94],"between":[97],"them.":[98],"(ii)":[99],"Then,":[100],"this":[101],"used":[105,164],"to":[106,146,220],"model":[107,147],"surrounding":[109],"height":[111,132,137],"Field,":[116],"which":[117],"solved":[119],"Loopy":[122],"Propagation":[124],"algorithm.":[125],"Points":[126],"are":[127,197,216],"finally":[128],"classified":[129],"comparing":[130],"estimated":[135],"map.":[138],"On":[139,166],"one":[140],"hand,":[141,169],"estimation":[145,214],"Field":[151],"provides":[152],"better":[154,178],"description":[155],"of":[156,192,203,230],"scene":[158],"than":[159,180],"commonly":[163],"alone.":[165],"other":[168,221],"graph-based":[172],"approach":[173],"message":[175],"passing":[176],"achieves":[177],"results":[179,215],"simpler":[181],"filtering":[182],"enhancement":[184],"techniques,":[185],"since":[186],"data":[187],"propagation":[188],"compensates":[189],"distributions":[191],"clouds.":[195],"Experiments":[196],"conducted":[198],"different":[201],"sources":[202],"information:":[204],"nuScenes\u2019s":[205],"public":[206],"dataset":[207],"autonomous":[210],"vehicle":[211],"prototype.":[212],"The":[213],"analyzed":[217],"respect":[219],"methods,":[222],"showing":[223],"good":[225],"variety":[229],"situations.":[231]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
