{"id":"https://openalex.org/W4294337845","doi":"https://doi.org/10.1109/icarcv57592.2022.10004276","title":"TransFuseGrid: Transformer-based Lidar-RGB fusion for semantic grid prediction","display_name":"TransFuseGrid: Transformer-based Lidar-RGB fusion for semantic grid prediction","publication_year":2022,"publication_date":"2022-12-11","ids":{"openalex":"https://openalex.org/W4294337845","doi":"https://doi.org/10.1109/icarcv57592.2022.10004276"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv57592.2022.10004276","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv57592.2022.10004276","pdf_url":null,"source":{"id":"https://openalex.org/S4363608251","display_name":"2022 17th International Conference on Control, Automation, Robotics and Vision (ICARCV)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 17th International Conference on Control, Automation, Robotics and Vision (ICARCV)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5014555411","display_name":"Gustavo Salazar-Gomez","orcid":null},"institutions":[{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Gustavo Salazar-Gomez","raw_affiliation_strings":["Inria, Univ. Grenoble-Alpes,Grenoble,France","Inria, Univ. Grenoble-Alpes, Grenoble, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Inria, Univ. Grenoble-Alpes,Grenoble,France","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I899635006"]},{"raw_affiliation_string":"Inria, Univ. Grenoble-Alpes, Grenoble, France","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I899635006"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058413906","display_name":"David Sierra-Gonzalez","orcid":null},"institutions":[{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"David Sierra-Gonzalez","raw_affiliation_strings":["Inria, Univ. Grenoble-Alpes,Grenoble,France","Inria, Univ. Grenoble-Alpes, Grenoble, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Inria, Univ. Grenoble-Alpes,Grenoble,France","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I899635006"]},{"raw_affiliation_string":"Inria, Univ. Grenoble-Alpes, Grenoble, France","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I899635006"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058505229","display_name":"Manuel Diaz-Zapata","orcid":"https://orcid.org/0000-0002-9275-2829"},"institutions":[{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]},{"id":"https://openalex.org/I48430043","display_name":"Institut National des Sciences Appliqu\u00e9es de Lyon","ror":"https://ror.org/050jn9y42","country_code":"FR","type":"education","lineage":["https://openalex.org/I203339264","https://openalex.org/I48430043"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Manuel Diaz-Zapata","raw_affiliation_strings":["Inria, Univ. Grenoble-Alpes,Grenoble,France","Inria, Univ. Grenoble-Alpes, Grenoble, France","CITILab, INSA, Lyon"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Inria, Univ. Grenoble-Alpes,Grenoble,France","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I899635006"]},{"raw_affiliation_string":"Inria, Univ. Grenoble-Alpes, Grenoble, France","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I899635006"]},{"raw_affiliation_string":"CITILab, INSA, Lyon","institution_ids":["https://openalex.org/I48430043"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020071319","display_name":"Anshul Paigwar","orcid":"https://orcid.org/0000-0003-4312-5893"},"institutions":[{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Anshul Paigwar","raw_affiliation_strings":["Inria, Univ. Grenoble-Alpes,Grenoble,France","Inria, Univ. Grenoble-Alpes, Grenoble, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Inria, Univ. Grenoble-Alpes,Grenoble,France","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I899635006"]},{"raw_affiliation_string":"Inria, Univ. Grenoble-Alpes, Grenoble, France","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I899635006"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101897955","display_name":"Wenqian Liu","orcid":"https://orcid.org/0000-0002-3296-1071"},"institutions":[{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Wenqian Liu","raw_affiliation_strings":["Inria, Univ. Grenoble-Alpes,Grenoble,France","Inria, Univ. Grenoble-Alpes, Grenoble, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Inria, Univ. Grenoble-Alpes,Grenoble,France","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I899635006"]},{"raw_affiliation_string":"Inria, Univ. Grenoble-Alpes, Grenoble, France","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I899635006"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003475208","display_name":"\u00d6zg\u00fcr Erkent","orcid":"https://orcid.org/0000-0002-2436-3186"},"institutions":[{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]},{"id":"https://openalex.org/I66514158","display_name":"Hacettepe University","ror":"https://ror.org/04kwvgz42","country_code":"TR","type":"education","lineage":["https://openalex.org/I66514158"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]}],"countries":["FR","TR"],"is_corresponding":false,"raw_author_name":"Ozgur Erkent","raw_affiliation_strings":["Inria, Univ. Grenoble-Alpes,Grenoble,France","Hacettepe University","Inria, Univ. Grenoble-Alpes, Grenoble, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Inria, Univ. Grenoble-Alpes,Grenoble,France","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I899635006"]},{"raw_affiliation_string":"Hacettepe University","institution_ids":["https://openalex.org/I66514158"]},{"raw_affiliation_string":"Inria, Univ. Grenoble-Alpes, Grenoble, France","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I899635006"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109557660","display_name":"Christian Laugier","orcid":null},"institutions":[{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Christian Laugier","raw_affiliation_strings":["Inria, Univ. Grenoble-Alpes,Grenoble,France","Inria, Univ. Grenoble-Alpes, Grenoble, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Inria, Univ. Grenoble-Alpes,Grenoble,France","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I899635006"]},{"raw_affiliation_string":"Inria, Univ. Grenoble-Alpes, Grenoble, France","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I899635006"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"268","last_page":"273"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994999766349792,"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"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9988999962806702,"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7796013355255127},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7590025663375854},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.7449280023574829},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.708850085735321},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6273563504219055},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6016749143600464},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.5307089686393738},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.48455968499183655},{"id":"https://openalex.org/keywords/concatenation","display_name":"Concatenation (mathematics)","score":0.4207085967063904},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.22151362895965576},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12371751666069031},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.0786018967628479},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.0780113935470581}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7796013355255127},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7590025663375854},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.7449280023574829},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.708850085735321},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6273563504219055},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6016749143600464},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.5307089686393738},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.48455968499183655},{"id":"https://openalex.org/C87619178","wikidata":"https://www.wikidata.org/wiki/Q126002","display_name":"Concatenation (mathematics)","level":2,"score":0.4207085967063904},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.22151362895965576},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12371751666069031},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0786018967628479},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0780113935470581},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","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/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icarcv57592.2022.10004276","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv57592.2022.10004276","pdf_url":null,"source":{"id":"https://openalex.org/S4363608251","display_name":"2022 17th International Conference on Control, Automation, Robotics and Vision (ICARCV)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 17th International Conference on Control, Automation, Robotics and Vision (ICARCV)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-03768008v1","is_oa":false,"landing_page_url":"https://inria.hal.science/hal-03768008","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ICARCV 2022 - 17th International Conference on Control, Automation, Robotics and Vision, Dec 2022, Singapore, Singapore. pp.1-6","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5299999713897705}],"awards":[],"funders":[{"id":"https://openalex.org/F4320335507","display_name":"Toyota Motor Europe","ror":"https://ror.org/023g86t37"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W2012210378","https://openalex.org/W2150066425","https://openalex.org/W2165191150","https://openalex.org/W2194775991","https://openalex.org/W2560609797","https://openalex.org/W2890003176","https://openalex.org/W2908141607","https://openalex.org/W2948515602","https://openalex.org/W2968296999","https://openalex.org/W2997432680","https://openalex.org/W3034669477","https://openalex.org/W3035461736","https://openalex.org/W3035574168","https://openalex.org/W3036452913","https://openalex.org/W3100744475","https://openalex.org/W3102343027","https://openalex.org/W3109395584","https://openalex.org/W3117804044","https://openalex.org/W3172863135","https://openalex.org/W3210282530","https://openalex.org/W4225986494","https://openalex.org/W4312641958","https://openalex.org/W4312707458","https://openalex.org/W4385245566","https://openalex.org/W6631190155","https://openalex.org/W6756392615","https://openalex.org/W6763422710","https://openalex.org/W6780075094"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2373577936","https://openalex.org/W4221148444","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4387678054","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W2389596151","https://openalex.org/W3095575180"],"abstract_inverted_index":{"Semantic":[0],"grids":[1],"are":[2],"a":[3,56,93,102,152],"succinct":[4],"and":[5,15,82,127,142,171,176],"convenient":[6],"approach":[7,49,115],"to":[8,59,151],"represent":[9],"the":[10,20,36,96,106,111,117,121,146,162],"environment":[11],"for":[12,50,120,161],"mobile":[13],"robotics":[14],"autonomous":[16],"driving":[17],"applications.":[18],"While":[19],"use":[21],"of":[22,105,113,164],"Lidar":[23,61],"sensors":[24],"is":[25],"now":[26],"generalized":[27],"in":[28,35],"robotics,":[29],"most":[30],"semantic":[31,51,103],"grid":[32,52,104],"prediction":[33,53],"approaches":[34],"literature":[37],"focus":[38],"only":[39],"on":[40,116],"RGB":[41,65],"data.":[42],"In":[43,159],"this":[44],"paper,":[45],"we":[46],"present":[47],"an":[48],"that":[54,134],"uses":[55],"transformer":[57],"architecture":[58],"fuse":[60],"sensor":[62],"data":[63],"with":[64,90],"images":[66],"from":[67],"multiple":[68,88],"cameras.":[69],"Our":[70],"proposed":[71],"method,":[72],"TransFuseGrid,":[73],"first":[74],"transforms":[75,95],"both":[76],"input":[77],"streams":[78],"into":[79,101],"top-view":[80,98],"embeddings,":[81],"then":[83],"fuses":[84],"these":[85],"embeddings":[86],"at":[87],"scales":[89],"Transformers.":[91],"Finally,":[92],"decoder":[94],"fused,":[97],"feature":[99,148],"map":[100],"vehicle's":[107],"environment.":[108],"We":[109],"evaluate":[110],"performance":[112,138],"our":[114,166],"nuScenes":[118],"dataset":[119],"vehicle,":[122],"drivable":[123],"area,":[124],"lane":[125],"divider":[126],"walkway":[128],"segmentation":[129,163],"tasks.":[130],"The":[131],"results":[132],"show":[133],"Trans-FuseGrid":[135],"achieves":[136],"superior":[137],"than":[139],"competing":[140],"RGB-only":[141,170],"Lidar-only":[143,172],"methods.":[144],"Additionally,":[145],"Transformer":[147],"fusion":[149],"leads":[150],"significative":[153],"improvement":[154],"over":[155],"naive":[156],"RGB-Lidar":[157],"concatenation.":[158],"particular,":[160],"vehicles,":[165],"model":[167],"outperforms":[168],"state-of-the-art":[169],"methods":[173],"by":[174],"24%":[175],"53%,":[177],"respectively.":[178]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}