{"id":"https://openalex.org/W3208053397","doi":"https://doi.org/10.1109/access.2021.3123169","title":"LiCaNext: Incorporating Sequential Range Residuals for Additional Advancement in Joint Perception and Motion Prediction","display_name":"LiCaNext: Incorporating Sequential Range Residuals for Additional Advancement in Joint Perception and Motion Prediction","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3208053397","doi":"https://doi.org/10.1109/access.2021.3123169","mag":"3208053397"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3123169","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3123169","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09585703.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":null,"license_id":null,"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/ielx7/6287639/6514899/09585703.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5002017846","display_name":"Yasser H. Khalil","orcid":"https://orcid.org/0000-0002-6632-6068"},"institutions":[{"id":"https://openalex.org/I153718931","display_name":"University of Ottawa","ror":"https://ror.org/03c4mmv16","country_code":"CA","type":"education","lineage":["https://openalex.org/I153718931"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Yasser H. Khalil","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, University of Ottawa, Ottawa, Canada. (e-mail: ykhal038@uottawa.ca)","School of Electrical Engineering and Computer Science University of Ottawa, Ottawa, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0002-6632-6068","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, University of Ottawa, Ottawa, Canada. (e-mail: ykhal038@uottawa.ca)","institution_ids":["https://openalex.org/I153718931"]},{"raw_affiliation_string":"School of Electrical Engineering and Computer Science University of Ottawa, Ottawa, ON, Canada","institution_ids":["https://openalex.org/I153718931"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055542851","display_name":"Hussein T. Mouftah","orcid":"https://orcid.org/0000-0001-7939-7212"},"institutions":[{"id":"https://openalex.org/I153718931","display_name":"University of Ottawa","ror":"https://ror.org/03c4mmv16","country_code":"CA","type":"education","lineage":["https://openalex.org/I153718931"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Hussein T. Mouftah","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, University of Ottawa, Ottawa, Canada","School of Electrical Engineering and Computer Science University of Ottawa, Ottawa, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0001-7939-7212","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, University of Ottawa, Ottawa, Canada","institution_ids":["https://openalex.org/I153718931"]},{"raw_affiliation_string":"School of Electrical Engineering and Computer Science University of Ottawa, Ottawa, ON, Canada","institution_ids":["https://openalex.org/I153718931"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I153718931"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.2827,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.55807003,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":"9","issue":null,"first_page":"146244","last_page":"146255"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998000264167786,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9998000264167786,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9991000294685364,"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":0.9987000226974487,"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/computer-science","display_name":"Computer science","score":0.7641897797584534},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6688680052757263},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.6282452344894409},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.615504801273346},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5733499526977539},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.5252458453178406},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.47267088294029236},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.46628615260124207},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4507737159729004},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.4437715709209442},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.4274459779262543},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.41222304105758667},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.4109411835670471},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.17420178651809692},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.09232684969902039},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09057384729385376}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7641897797584534},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6688680052757263},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.6282452344894409},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.615504801273346},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5733499526977539},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5252458453178406},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.47267088294029236},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.46628615260124207},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4507737159729004},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.4437715709209442},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.4274459779262543},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.41222304105758667},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.4109411835670471},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.17420178651809692},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.09232684969902039},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09057384729385376},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2021.3123169","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3123169","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09585703.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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:1646adcd5a5f43debca63ab9287b24e2","is_oa":true,"landing_page_url":"https://doaj.org/article/1646adcd5a5f43debca63ab9287b24e2","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":"IEEE Access, Vol 9, Pp 146244-146255 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3123169","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3123169","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09585703.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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5167574045","display_name":null,"funder_award_id":"RGPIN/1056-2017","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"},{"id":"https://openalex.org/G8511763095","display_name":null,"funder_award_id":"Project RGPIN/1056-2017","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"}],"funders":[{"id":"https://openalex.org/F4320320994","display_name":"Canada Research Chairs","ror":"https://ror.org/0517h6h17"},{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3208053397.pdf","grobid_xml":"https://content.openalex.org/works/W3208053397.grobid-xml"},"referenced_works_count":56,"referenced_works":["https://openalex.org/W1921093919","https://openalex.org/W2094944735","https://openalex.org/W2609862522","https://openalex.org/W2774058387","https://openalex.org/W2798930779","https://openalex.org/W2898900571","https://openalex.org/W2904631343","https://openalex.org/W2953452037","https://openalex.org/W2964332807","https://openalex.org/W2981084009","https://openalex.org/W2990620661","https://openalex.org/W2996010494","https://openalex.org/W3028320132","https://openalex.org/W3033207664","https://openalex.org/W3034295100","https://openalex.org/W3034782805","https://openalex.org/W3035360167","https://openalex.org/W3035574168","https://openalex.org/W3081125129","https://openalex.org/W3089645076","https://openalex.org/W3090789587","https://openalex.org/W3102891736","https://openalex.org/W3114588740","https://openalex.org/W3114753236","https://openalex.org/W3130574226","https://openalex.org/W3161715545","https://openalex.org/W3161855852","https://openalex.org/W3173252859","https://openalex.org/W3176907717","https://openalex.org/W3177645420","https://openalex.org/W3178309203","https://openalex.org/W3192815172","https://openalex.org/W3201213425","https://openalex.org/W3209333838","https://openalex.org/W3209693651","https://openalex.org/W4200094847","https://openalex.org/W4220829461","https://openalex.org/W4287652473","https://openalex.org/W4287684819","https://openalex.org/W6674419415","https://openalex.org/W6755864109","https://openalex.org/W6769347387","https://openalex.org/W6770458317","https://openalex.org/W6778395923","https://openalex.org/W6779332932","https://openalex.org/W6782015440","https://openalex.org/W6783650323","https://openalex.org/W6789741917","https://openalex.org/W6790563692","https://openalex.org/W6793614555","https://openalex.org/W6795391902","https://openalex.org/W6795847023","https://openalex.org/W6797207640","https://openalex.org/W6799508891","https://openalex.org/W6801753439","https://openalex.org/W6804700842"],"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/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W4281783339","https://openalex.org/W1964041166","https://openalex.org/W4390887692"],"abstract_inverted_index":{"Autonomous":[0],"driving":[1],"can":[2],"obtain":[3],"accurate":[4],"perception":[5,48],"and":[6,49,72,119],"reliable":[7],"motion":[8,50,117],"prediction":[9,51,118],"with":[10,77,100,145],"the":[11,31,58,92,129],"support":[12],"of":[13,34,61,152],"multi-modal":[14,93],"fusion.":[15],"Recently,":[16],"there":[17],"has":[18,111],"been":[19],"growing":[20],"interest":[21],"in":[22,46,67,103],"leveraging":[23],"features":[24],"from":[25],"various":[26],"onboard":[27],"sensors":[28],"to":[29,41,83,96],"enhance":[30],"primary":[32],"stages":[33],"autonomous":[35],"driving.":[36],"This":[37],"paper":[38],"proposes":[39],"LiCaNext":[40,56],"capture":[42],"additional":[43],"accuracy":[44],"advancements":[45],"joint":[47],"while":[52],"maintaining":[53],"real-time":[54],"requirements.":[55],"is":[57],"next":[59],"version":[60],"LiCaNet,":[62,84],"which":[63],"fuses":[64],"LIDAR":[65],"data":[66],"both":[68],"bird\u2019s-eye":[69],"view":[70,74],"(BEV)":[71],"range":[73,88,108,139],"(RV)":[75],"representations":[76],"a":[78,112,149],"camera":[79],"image.":[80],"In":[81],"contrast":[82],"we":[85],"introduce":[86],"sequential":[87,107,138],"residual":[89,109],"images":[90,110],"into":[91],"fusion":[94],"network":[95],"further":[97],"improve":[98],"performance,":[99],"minimal":[101],"increase":[102],"inference":[104],"time.":[105],"Employing":[106],"substantial":[113],"direct":[114],"impact":[115],"on":[116,128],"positively":[120],"influences":[121],"perception.":[122],"We":[123],"provide":[124],"an":[125],"extensive":[126],"evaluation":[127],"public":[130],"nuScenes":[131],"dataset.":[132],"Our":[133],"experiments":[134],"show":[135],"that":[136],"incorporating":[137],"residuals":[140],"secures":[141],"significant":[142],"performance":[143],"gain,":[144],"monotonic":[146],"progress":[147],"for":[148],"larger":[150],"number":[151],"exploited":[153],"residuals.":[154]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2022,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}