{"id":"https://openalex.org/W3213006350","doi":"https://doi.org/10.1109/access.2021.3127234","title":"POAT-Net: Parallel Offset-Attention Assisted Transformer for 3D Object Detection for Autonomous Driving","display_name":"POAT-Net: Parallel Offset-Attention Assisted Transformer for 3D Object Detection for Autonomous Driving","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3213006350","doi":"https://doi.org/10.1109/access.2021.3127234","mag":"3213006350"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3127234","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3127234","pdf_url":null,"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://doi.org/10.1109/access.2021.3127234","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100766570","display_name":"Jinyang Wang","orcid":"https://orcid.org/0000-0003-4372-6920"},"institutions":[{"id":"https://openalex.org/I4210144102","display_name":"Wuhu Hit Robot Technology Research Institute","ror":"https://ror.org/049w4dp92","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144102"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jinyang Wang","raw_affiliation_strings":["Rhinoceros Intelligent Robots Technology Co., Ltd., Shanghai, China. (e-mail: yangnuc@outlook.com)"],"affiliations":[{"raw_affiliation_string":"Rhinoceros Intelligent Robots Technology Co., Ltd., Shanghai, China. (e-mail: yangnuc@outlook.com)","institution_ids":["https://openalex.org/I4210144102"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100450522","display_name":"Xiao Lin","orcid":"https://orcid.org/0000-0002-8805-7129"},"institutions":[{"id":"https://openalex.org/I21945476","display_name":"Shanghai Normal University","ror":"https://ror.org/01cxqmw89","country_code":"CN","type":"education","lineage":["https://openalex.org/I21945476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Lin","raw_affiliation_strings":["Department of Computer Science, Shanghai Normal University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Shanghai Normal University, Shanghai, China","institution_ids":["https://openalex.org/I21945476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100543985","display_name":"Hongying Yu","orcid":"https://orcid.org/0000-0001-6003-9343"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hongying Yu","raw_affiliation_strings":["Depart of Electrical and Control Engineering Department, North University of China, Taiyuan, China"],"affiliations":[{"raw_affiliation_string":"Depart of Electrical and Control Engineering Department, North University of China, Taiyuan, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100766570"],"corresponding_institution_ids":["https://openalex.org/I4210144102"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.9607,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.77852941,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"9","issue":null,"first_page":"151110","last_page":"151117"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","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/T10036","display_name":"Advanced Neural Network Applications","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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9962000250816345,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9944999814033508,"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/point-cloud","display_name":"Point cloud","score":0.817326545715332},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7885114550590515},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.6197933554649353},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.5638166069984436},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5634368658065796},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5219290256500244},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.501779317855835},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.4951004087924957},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46452534198760986},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.4391372799873352},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.435608446598053},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.43044519424438477},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.32107052206993103},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3032771944999695},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.1667684018611908},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.0902734100818634}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.817326545715332},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7885114550590515},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.6197933554649353},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.5638166069984436},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5634368658065796},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5219290256500244},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.501779317855835},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.4951004087924957},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46452534198760986},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.4391372799873352},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.435608446598053},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.43044519424438477},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.32107052206993103},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3032771944999695},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.1667684018611908},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0902734100818634},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2021.3127234","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3127234","pdf_url":null,"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:37203ad23a904e6aa2175a9f34c8069d","is_oa":true,"landing_page_url":"https://doaj.org/article/37203ad23a904e6aa2175a9f34c8069d","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 151110-151117 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3127234","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3127234","pdf_url":null,"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":[{"score":0.4300000071525574,"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4"}],"awards":[{"id":"https://openalex.org/G2663115560","display_name":null,"funder_award_id":"61772164","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8309174672","display_name":null,"funder_award_id":"61775139","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8483940777","display_name":null,"funder_award_id":"62072126","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1662382123","https://openalex.org/W2791426782","https://openalex.org/W2896457183","https://openalex.org/W2902965877","https://openalex.org/W2946794439","https://openalex.org/W2949708697","https://openalex.org/W2951517617","https://openalex.org/W2963121255","https://openalex.org/W2963341956","https://openalex.org/W2963925437","https://openalex.org/W2964311892","https://openalex.org/W2964979676","https://openalex.org/W2968296999","https://openalex.org/W2981949127","https://openalex.org/W2982363097","https://openalex.org/W2997814983","https://openalex.org/W2998385486","https://openalex.org/W3034602892","https://openalex.org/W3034681945","https://openalex.org/W3035750285","https://openalex.org/W3053706811","https://openalex.org/W3092462694","https://openalex.org/W3096609285","https://openalex.org/W3101415077","https://openalex.org/W3111535274","https://openalex.org/W3113028524","https://openalex.org/W3120082156","https://openalex.org/W3122239467","https://openalex.org/W3130463448","https://openalex.org/W3153465022","https://openalex.org/W3162137573","https://openalex.org/W3164543136","https://openalex.org/W3172509117","https://openalex.org/W6637178625","https://openalex.org/W6739778489","https://openalex.org/W6755207826","https://openalex.org/W6756660404","https://openalex.org/W6781927018","https://openalex.org/W6784094891","https://openalex.org/W6785665406","https://openalex.org/W6787711174"],"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/W4293094720","https://openalex.org/W2739701376"],"abstract_inverted_index":{"3D":[0,55,72,119,124],"object":[1,56,75,120],"detection":[2,57,121],"is":[3,78,100,128],"playing":[4],"a":[5,66],"key":[6],"role":[7],"in":[8,84,93],"the":[9,81,107,141,157,174],"perception":[10],"process":[11],"of":[12,21,145],"autonomous":[13],"driving":[14],"and":[15,32,41,53,89,132],"industrial":[16],"robots":[17],"automation.":[18],"Inherent":[19],"characteristics":[20],"point":[22,36,73,94,109],"cloud":[23,37,74,95],"raise":[24],"an":[25],"enormous":[26],"challenge":[27],"to":[28,49,103,118,130,155],"both":[29],"spatial":[30,38],"representation":[31],"association":[33],"analysis.":[34],"Unordered":[35],"data":[39],"structure":[40],"density":[42,143,159],"variations":[43],"caused":[44],"by":[45],"gradually":[46],"varying":[47],"distances":[48],"LiDAR":[50],"make":[51],"accurate":[52],"robust":[54],"even":[58],"more":[59],"difficult.":[60],"In":[61],"this":[62],"paper,":[63],"we":[64,148],"present":[65],"novel":[67],"transformer":[68],"network":[69],"POAT-Net":[70,99],"for":[71,162],"detection.":[76],"Transformer":[77],"credited":[79],"with":[80],"great":[82],"success":[83],"Natural":[85],"Language":[86],"Processing":[87],"(NLP)":[88],"exhibiting":[90],"inspiring":[91],"potentials":[92],"processing.":[96],"Our":[97],"method":[98,172],"inherently":[101],"insensitive":[102],"element":[104],"permutations":[105],"within":[106],"unordered":[108],"cloud.":[110],"The":[111],"associations":[112,135],"between":[113,136],"local":[114,137],"points":[115],"contribute":[116],"significantly":[117],"or":[122],"other":[123],"tasks.":[125],"Parallel":[126],"offset-attention":[127],"leveraged":[129],"highlight":[131],"capture":[133],"subtle":[134],"points.":[138],"To":[139],"overcome":[140],"non-uniform":[142,158],"distribution":[144],"different":[146],"objects,":[147],"exploit":[149],"Normalized":[150],"multi-resolution":[151],"Grouping":[152],"(NMRG)":[153],"strategy":[154],"enhance":[156],"adaptive":[160],"ability":[161],"POAT-Net.":[163],"Quantitative":[164],"experimental":[165],"results":[166],"on":[167],"KITTI3D":[168],"dataset":[169],"demonstrate":[170],"our":[171],"achieves":[173],"state-of-the-art":[175],"performance.":[176]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
