{"id":"https://openalex.org/W4372338233","doi":"https://doi.org/10.1109/icassp49357.2023.10097060","title":"D-CONFORMER: Deformable Sparse Transformer Augmented Convolution for Voxel-Based 3D Object Detection","display_name":"D-CONFORMER: Deformable Sparse Transformer Augmented Convolution for Voxel-Based 3D Object Detection","publication_year":2023,"publication_date":"2023-05-05","ids":{"openalex":"https://openalex.org/W4372338233","doi":"https://doi.org/10.1109/icassp49357.2023.10097060"},"language":"en","primary_location":{"id":"doi:10.1109/icassp49357.2023.10097060","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icassp49357.2023.10097060","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ICASSP 2023 - 2023 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP)","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/A5106342687","display_name":"Xiao Zhao","orcid":"https://orcid.org/0000-0001-7928-3354"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Zhao","raw_affiliation_strings":["Fudan University,Academy for Engineering and Technology,Shanghai,China","Academy for Engineering and Technology, Fudan University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan University,Academy for Engineering and Technology,Shanghai,China","institution_ids":["https://openalex.org/I24943067"]},{"raw_affiliation_string":"Academy for Engineering and Technology, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004793607","display_name":"Liuzhen Su","orcid":null},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liuzhen Su","raw_affiliation_strings":["Fudan University,Academy for Engineering and Technology,Shanghai,China","Academy for Engineering and Technology, Fudan University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan University,Academy for Engineering and Technology,Shanghai,China","institution_ids":["https://openalex.org/I24943067"]},{"raw_affiliation_string":"Academy for Engineering and Technology, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101764675","display_name":"Xukun Zhang","orcid":"https://orcid.org/0000-0003-2869-9434"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xukun Zhang","raw_affiliation_strings":["Fudan University,Academy for Engineering and Technology,Shanghai,China","Academy for Engineering and Technology, Fudan University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan University,Academy for Engineering and Technology,Shanghai,China","institution_ids":["https://openalex.org/I24943067"]},{"raw_affiliation_string":"Academy for Engineering and Technology, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064280715","display_name":"Dingkang Yang","orcid":"https://orcid.org/0000-0003-1829-5671"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dingkang Yang","raw_affiliation_strings":["Fudan University,Academy for Engineering and Technology,Shanghai,China","Academy for Engineering and Technology, Fudan University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan University,Academy for Engineering and Technology,Shanghai,China","institution_ids":["https://openalex.org/I24943067"]},{"raw_affiliation_string":"Academy for Engineering and Technology, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045362859","display_name":"Mingyang Sun","orcid":"https://orcid.org/0000-0003-2728-5117"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingyang Sun","raw_affiliation_strings":["Fudan University,Academy for Engineering and Technology,Shanghai,China","Academy for Engineering and Technology, Fudan University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan University,Academy for Engineering and Technology,Shanghai,China","institution_ids":["https://openalex.org/I24943067"]},{"raw_affiliation_string":"Academy for Engineering and Technology, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100605358","display_name":"Shunli Wang","orcid":"https://orcid.org/0000-0003-0485-8082"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shunli Wang","raw_affiliation_strings":["Fudan University,Academy for Engineering and Technology,Shanghai,China","Academy for Engineering and Technology, Fudan University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan University,Academy for Engineering and Technology,Shanghai,China","institution_ids":["https://openalex.org/I24943067"]},{"raw_affiliation_string":"Academy for Engineering and Technology, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036810000","display_name":"Peng Zhai","orcid":"https://orcid.org/0000-0002-1374-7969"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Zhai","raw_affiliation_strings":["Fudan University,Academy for Engineering and Technology,Shanghai,China","Academy for Engineering and Technology, Fudan University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan University,Academy for Engineering and Technology,Shanghai,China","institution_ids":["https://openalex.org/I24943067"]},{"raw_affiliation_string":"Academy for Engineering and Technology, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100414906","display_name":"Lihua Zhang","orcid":"https://orcid.org/0000-0003-0467-4347"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lihua Zhang","raw_affiliation_strings":["Fudan University,Academy for Engineering and Technology,Shanghai,China","Engineering Research Center of AI and Robotics, Shanghai, China","Academy for Engineering and Technology, Fudan University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan University,Academy for Engineering and Technology,Shanghai,China","institution_ids":["https://openalex.org/I24943067"]},{"raw_affiliation_string":"Engineering Research Center of AI and Robotics, Shanghai, China","institution_ids":[]},{"raw_affiliation_string":"Academy for Engineering and Technology, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I24943067"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"5"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":1.0,"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":1.0,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11605","display_name":"Visual Attention and Saliency Detection","score":0.9945999979972839,"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/voxel","display_name":"Voxel","score":0.8467456102371216},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6794502139091492},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6737052798271179},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5315268635749817},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.5166664123535156},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.5045615434646606},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4971802532672882},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.49639540910720825},{"id":"https://openalex.org/keywords/convolution","display_name":"Convolution (computer science)","score":0.4838191866874695},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.45851871371269226},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1421937346458435},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.11646291613578796}],"concepts":[{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.8467456102371216},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6794502139091492},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6737052798271179},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5315268635749817},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.5166664123535156},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.5045615434646606},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4971802532672882},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.49639540910720825},{"id":"https://openalex.org/C45347329","wikidata":"https://www.wikidata.org/wiki/Q5166604","display_name":"Convolution (computer science)","level":3,"score":0.4838191866874695},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.45851871371269226},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1421937346458435},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.11646291613578796},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icassp49357.2023.10097060","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icassp49357.2023.10097060","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ICASSP 2023 - 2023 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W2897529137","https://openalex.org/W2937816158","https://openalex.org/W2963351448","https://openalex.org/W2997188997","https://openalex.org/W3008105217","https://openalex.org/W3034602892","https://openalex.org/W3092462694","https://openalex.org/W3118341329","https://openalex.org/W3138516171","https://openalex.org/W3160694286","https://openalex.org/W3166470370","https://openalex.org/W3205005447","https://openalex.org/W4214493665","https://openalex.org/W4214777292","https://openalex.org/W4225265564","https://openalex.org/W4312307873","https://openalex.org/W4312501532","https://openalex.org/W4313149358","https://openalex.org/W6772595511","https://openalex.org/W6784094891"],"related_works":["https://openalex.org/W3027020613","https://openalex.org/W2016533837","https://openalex.org/W3167885074","https://openalex.org/W2892386716","https://openalex.org/W4306164210","https://openalex.org/W1998563493","https://openalex.org/W4313316311","https://openalex.org/W4362608745","https://openalex.org/W2082728368","https://openalex.org/W2383143032"],"abstract_inverted_index":{"Although":[0],"CNN-based":[1],"and":[2,25,47,49,75,114,135],"Transformer-based":[3],"detectors":[4,121],"have":[5],"made":[6],"impressive":[7],"improvements":[8],"in":[9,61,111],"3D":[10,62,138],"object":[11,65],"detection,":[12,66],"these":[13],"two":[14],"network":[15],"paradigms":[16],"suffer":[17],"from":[18],"the":[19,32,37,52],"interference":[20],"of":[21,36,55],"insufficient":[22],"receptive":[23],"field":[24],"local":[26,95],"detail":[27,96],"weakening,":[28],"which":[29],"significantly":[30],"limits":[31],"feature":[33],"extraction":[34],"performance":[35],"backbone.":[38,124],"In":[39],"this":[40],"paper,":[41],"we":[42,81],"propose":[43],"to":[44,64,88,118],"fuse":[45],"convolution":[46,74],"transformer,":[48],"simultaneously":[50],"considering":[51],"different":[53,59],"contributions":[54],"non-empty":[56],"voxels":[57,108],"at":[58],"positions":[60],"space":[63,113],"it":[67],"is":[68],"not":[69],"consistent":[70],"with":[71,109],"applying":[72],"standard":[73],"transformer":[76,87],"directly":[77],"on":[78,93],"voxels.":[79],"Specifically,":[80],"design":[82],"a":[83,123,142],"novel":[84],"deformable":[85],"sparse":[86,101,112],"perform":[89],"long-range":[90],"information":[91],"interaction":[92],"fine-grained":[94],"semantics":[97],"aggregated":[98],"by":[99,141],"focal":[100],"convolution,":[102],"termed":[103],"D-Conformer.":[104],"D-Conformer":[105],"learns":[106],"valuable":[107],"position-wise":[110],"can":[115],"be":[116],"applied":[117],"most":[119],"voxel-based":[120],"as":[122],"Extensive":[125],"experiments":[126],"demonstrate":[127],"that":[128],"our":[129],"method":[130],"achieves":[131],"satisfactory":[132],"detection":[133,139],"results":[134],"outperforms":[136],"state-of-the-art":[137],"methods":[140],"large":[143],"margin.":[144]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-25T09:21:30.201066","created_date":"2025-10-10T00:00:00"}