{"id":"https://openalex.org/W4408352102","doi":"https://doi.org/10.1109/icassp49660.2025.10888352","title":"D2S: Towards Efficient Sparse 3D Object Detection via Dense to Sparse Knowledge Distillation","display_name":"D2S: Towards Efficient Sparse 3D Object Detection via Dense to Sparse Knowledge Distillation","publication_year":2025,"publication_date":"2025-03-12","ids":{"openalex":"https://openalex.org/W4408352102","doi":"https://doi.org/10.1109/icassp49660.2025.10888352"},"language":"en","primary_location":{"id":"doi:10.1109/icassp49660.2025.10888352","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icassp49660.2025.10888352","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ICASSP 2025 - 2025 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/A5002182146","display_name":"Yuqi Huang","orcid":"https://orcid.org/0009-0003-1021-2103"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuqi Huang","raw_affiliation_strings":["Xi&#x2019;an Jiaotong University,Institute of Artificial Intelligence and Robotics,Xi&#x2019;an,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xi&#x2019;an Jiaotong University,Institute of Artificial Intelligence and Robotics,Xi&#x2019;an,China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080046377","display_name":"Longjun Liu","orcid":"https://orcid.org/0000-0002-7467-4994"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Longjun Liu","raw_affiliation_strings":["Xi&#x2019;an Jiaotong University,Institute of Artificial Intelligence and Robotics,Xi&#x2019;an,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xi&#x2019;an Jiaotong University,Institute of Artificial Intelligence and Robotics,Xi&#x2019;an,China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060393829","display_name":"Yingke Gao","orcid":null},"institutions":[{"id":"https://openalex.org/I194716290","display_name":"China Academy of Space Technology","ror":"https://ror.org/025397a59","country_code":"CN","type":"government","lineage":["https://openalex.org/I194716290","https://openalex.org/I2802615301"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingke Gao","raw_affiliation_strings":["China Academy of Space Technology,Beijing Institute of Control Engineering,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China Academy of Space Technology,Beijing Institute of Control Engineering,Beijing,China","institution_ids":["https://openalex.org/I194716290"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100705310","display_name":"Haonan Zhang","orcid":"https://orcid.org/0000-0002-4239-6141"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haonan Zhang","raw_affiliation_strings":["Xi&#x2019;an Jiaotong University,Institute of Artificial Intelligence and Robotics,Xi&#x2019;an,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xi&#x2019;an Jiaotong University,Institute of Artificial Intelligence and Robotics,Xi&#x2019;an,China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040809961","display_name":"Haoteng Li","orcid":"https://orcid.org/0000-0003-2135-3422"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoteng Li","raw_affiliation_strings":["Xi&#x2019;an Jiaotong University,Institute of Artificial Intelligence and Robotics,Xi&#x2019;an,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xi&#x2019;an Jiaotong University,Institute of Artificial Intelligence and Robotics,Xi&#x2019;an,China","institution_ids":["https://openalex.org/I87445476"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"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":0.9994000196456909,"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":0.9994000196456909,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9915000200271606,"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":0.9896000027656555,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7091257572174072},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5484330654144287},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5358636975288391},{"id":"https://openalex.org/keywords/distillation","display_name":"Distillation","score":0.5286595821380615},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5210420489311218},{"id":"https://openalex.org/keywords/sparse-approximation","display_name":"Sparse approximation","score":0.41819772124290466},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.41415566205978394},{"id":"https://openalex.org/keywords/chromatography","display_name":"Chromatography","score":0.1021045446395874},{"id":"https://openalex.org/keywords/chemistry","display_name":"Chemistry","score":0.0901956856250763}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7091257572174072},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5484330654144287},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5358636975288391},{"id":"https://openalex.org/C204030448","wikidata":"https://www.wikidata.org/wiki/Q101017","display_name":"Distillation","level":2,"score":0.5286595821380615},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5210420489311218},{"id":"https://openalex.org/C124066611","wikidata":"https://www.wikidata.org/wiki/Q28684319","display_name":"Sparse approximation","level":2,"score":0.41819772124290466},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.41415566205978394},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.1021045446395874},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0901956856250763}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icassp49660.2025.10888352","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icassp49660.2025.10888352","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ICASSP 2025 - 2025 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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W2115579991","https://openalex.org/W2897529137","https://openalex.org/W2949708697","https://openalex.org/W3003618643","https://openalex.org/W3008105217","https://openalex.org/W3034236957","https://openalex.org/W3034314779","https://openalex.org/W3035172746","https://openalex.org/W3118341329","https://openalex.org/W3136022415","https://openalex.org/W3167095230","https://openalex.org/W3173270634","https://openalex.org/W3175563878","https://openalex.org/W4224927203","https://openalex.org/W4310078553","https://openalex.org/W4312916565","https://openalex.org/W4313149358","https://openalex.org/W4386075775","https://openalex.org/W4386076253","https://openalex.org/W4386083129","https://openalex.org/W4392902769","https://openalex.org/W4392903997","https://openalex.org/W4392909326","https://openalex.org/W4396941558","https://openalex.org/W4402716222","https://openalex.org/W4402727526","https://openalex.org/W4404520687","https://openalex.org/W6637551013","https://openalex.org/W6638523607","https://openalex.org/W6763422710","https://openalex.org/W6810161144","https://openalex.org/W6838957033","https://openalex.org/W6840443303"],"related_works":["https://openalex.org/W3026162553","https://openalex.org/W2344382886","https://openalex.org/W19111321","https://openalex.org/W2412887479","https://openalex.org/W32245304","https://openalex.org/W2953684491","https://openalex.org/W4285338581","https://openalex.org/W1964749215","https://openalex.org/W4292830139","https://openalex.org/W4319309705"],"abstract_inverted_index":{"LiDAR-based":[0],"3D":[1,18,63],"object":[2],"detection":[3],"is":[4,29],"widely":[5],"used":[6],"in":[7,16,71],"high-level":[8],"autonomous":[9],"driving":[10],"schemes.":[11],"However,":[12],"the":[13,42,69,112,132,142],"cumbersome":[14],"modules":[15],"most":[17],"detectors":[19],"lead":[20],"to":[21,41,55,66,92,102],"substantial":[22],"computational":[23],"overhead.":[24],"Despite":[25],"knowledge":[26],"distillation":[27,100,118],"(KD)":[28],"an":[30],"effective":[31,53],"approach":[32],"for":[33,61,68,87],"compressing":[34],"models,":[35],"previous":[36],"methods":[37],"cannot":[38],"be":[39],"extended":[40],"dense-to-sparse":[43],"paradigm.":[44],"To":[45],"this":[46,106],"end,":[47],"we":[48,79,96,108,145],"propose":[49,97],"a":[50,81,98],"simple":[51],"yet":[52],"Dense":[54],"Sparse":[56],"Knowledge":[57],"Distillation":[58],"(D2S)":[59],"framework":[60],"accelerating":[62],"detectors.":[64],"Firstly,":[65],"compensate":[67],"difference":[70],"predicted":[72],"location":[73],"between":[74,117],"dense":[75],"and":[76,114,127,154],"sparse":[77,143],"detectors,":[78],"introduce":[80],"lightweight":[82],"feature":[83,113],"diffusion":[84],"(FeaD)":[85],"module":[86],"spreading":[88],"important":[89,121],"features.":[90],"Secondly,":[91],"achieve":[93],"high":[94],"performance,":[95],"dual-stream":[99],"scheme":[101],"transfer":[103],"knowledge.":[104],"In":[105],"scheme,":[107],"align":[109],"both":[110],"of":[111,134],"category":[115],"prediction":[116],"pairs":[119],"at":[120],"positions.":[122],"Extensive":[123],"experiments":[124],"on":[125,139],"KITTI":[126,140],"Waymo":[128],"Open":[129],"Dataset":[130],"demonstrate":[131],"effectiveness":[133],"our":[135],"method.":[136],"For":[137],"example,":[138],"dataset,":[141],"detector":[144],"obtained":[146],"surpasses":[147],"VoxelNeXt":[148],"with":[149],"around":[150],"2.0\u00d7":[151],"fewer":[152,156],"parameters":[153],"1.6\u00d7":[155],"FLOPs.":[157]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
