{"id":"https://openalex.org/W4313195010","doi":"https://doi.org/10.1109/icpr56361.2022.9956238","title":"HPGNN: Using Hierarchical Graph Neural Networks for Outdoor Point Cloud Processing","display_name":"HPGNN: Using Hierarchical Graph Neural Networks for Outdoor Point Cloud Processing","publication_year":2022,"publication_date":"2022-08-21","ids":{"openalex":"https://openalex.org/W4313195010","doi":"https://doi.org/10.1109/icpr56361.2022.9956238"},"language":"en","primary_location":{"id":"doi:10.1109/icpr56361.2022.9956238","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icpr56361.2022.9956238","pdf_url":null,"source":{"id":"https://openalex.org/S4363607731","display_name":"2022 26th International Conference on Pattern Recognition (ICPR)","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 26th International Conference on Pattern Recognition (ICPR)","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/A5041268054","display_name":"Arulmolivarman Thieshanthan","orcid":null},"institutions":[{"id":"https://openalex.org/I195740183","display_name":"University of Moratuwa","ror":"https://ror.org/0491f5305","country_code":"LK","type":"education","lineage":["https://openalex.org/I195740183"]}],"countries":["LK"],"is_corresponding":false,"raw_author_name":"Arulmolivarman Thieshanthan","raw_affiliation_strings":["University of Moratuwa,Department of Electronic and Telecommunication Engineering,Sri Lanka","Department of Electronic and Telecommunication Engineering, University of Moratuwa, Sri Lanka"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Moratuwa,Department of Electronic and Telecommunication Engineering,Sri Lanka","institution_ids":["https://openalex.org/I195740183"]},{"raw_affiliation_string":"Department of Electronic and Telecommunication Engineering, University of Moratuwa, Sri Lanka","institution_ids":["https://openalex.org/I195740183"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091183248","display_name":"Amashi Niwarthana","orcid":"https://orcid.org/0009-0007-5124-3239"},"institutions":[{"id":"https://openalex.org/I195740183","display_name":"University of Moratuwa","ror":"https://ror.org/0491f5305","country_code":"LK","type":"education","lineage":["https://openalex.org/I195740183"]}],"countries":["LK"],"is_corresponding":false,"raw_author_name":"Amashi Niwarthana","raw_affiliation_strings":["University of Moratuwa,Department of Electronic and Telecommunication Engineering,Sri Lanka","Department of Electronic and Telecommunication Engineering, University of Moratuwa, Sri Lanka"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Moratuwa,Department of Electronic and Telecommunication Engineering,Sri Lanka","institution_ids":["https://openalex.org/I195740183"]},{"raw_affiliation_string":"Department of Electronic and Telecommunication Engineering, University of Moratuwa, Sri Lanka","institution_ids":["https://openalex.org/I195740183"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082017677","display_name":"Pamuditha Somarathne","orcid":null},"institutions":[{"id":"https://openalex.org/I195740183","display_name":"University of Moratuwa","ror":"https://ror.org/0491f5305","country_code":"LK","type":"education","lineage":["https://openalex.org/I195740183"]}],"countries":["LK"],"is_corresponding":false,"raw_author_name":"Pamuditha Somarathne","raw_affiliation_strings":["University of Moratuwa,Department of Electronic and Telecommunication Engineering,Sri Lanka","Department of Electronic and Telecommunication Engineering, University of Moratuwa, Sri Lanka"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Moratuwa,Department of Electronic and Telecommunication Engineering,Sri Lanka","institution_ids":["https://openalex.org/I195740183"]},{"raw_affiliation_string":"Department of Electronic and Telecommunication Engineering, University of Moratuwa, Sri Lanka","institution_ids":["https://openalex.org/I195740183"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062630308","display_name":"Tharindu Wickremasinghe","orcid":"https://orcid.org/0009-0000-3119-7828"},"institutions":[{"id":"https://openalex.org/I195740183","display_name":"University of Moratuwa","ror":"https://ror.org/0491f5305","country_code":"LK","type":"education","lineage":["https://openalex.org/I195740183"]}],"countries":["LK"],"is_corresponding":false,"raw_author_name":"Tharindu Wickremasinghe","raw_affiliation_strings":["University of Moratuwa,Department of Electronic and Telecommunication Engineering,Sri Lanka","Department of Electronic and Telecommunication Engineering, University of Moratuwa, Sri Lanka"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Moratuwa,Department of Electronic and Telecommunication Engineering,Sri Lanka","institution_ids":["https://openalex.org/I195740183"]},{"raw_affiliation_string":"Department of Electronic and Telecommunication Engineering, University of Moratuwa, Sri Lanka","institution_ids":["https://openalex.org/I195740183"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058175691","display_name":"Ranga Rodrigo","orcid":"https://orcid.org/0000-0002-1034-7513"},"institutions":[{"id":"https://openalex.org/I195740183","display_name":"University of Moratuwa","ror":"https://ror.org/0491f5305","country_code":"LK","type":"education","lineage":["https://openalex.org/I195740183"]}],"countries":["LK"],"is_corresponding":false,"raw_author_name":"Ranga Rodrigo","raw_affiliation_strings":["University of Moratuwa,Department of Electronic and Telecommunication Engineering,Sri Lanka","Department of Electronic and Telecommunication Engineering, University of Moratuwa, Sri Lanka"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Moratuwa,Department of Electronic and Telecommunication Engineering,Sri Lanka","institution_ids":["https://openalex.org/I195740183"]},{"raw_affiliation_string":"Department of Electronic and Telecommunication Engineering, University of Moratuwa, Sri Lanka","institution_ids":["https://openalex.org/I195740183"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I195740183"],"apc_list":null,"apc_paid":null,"fwci":0.3304,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.69575407,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2700","last_page":"2706"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9988999962806702,"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"}},"topics":[{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9988999962806702,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental 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":0.996399998664856,"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/point-cloud","display_name":"Point cloud","score":0.8312349915504456},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7731881141662598},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.6014627814292908},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5996222496032715},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.573991596698761},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.45334458351135254},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.4438219368457794},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.4389176666736603},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.42067140340805054},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.38394850492477417},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3811568021774292},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.35380619764328003},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08221149444580078}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8312349915504456},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7731881141662598},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.6014627814292908},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5996222496032715},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.573991596698761},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.45334458351135254},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.4438219368457794},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.4389176666736603},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.42067140340805054},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.38394850492477417},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3811568021774292},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.35380619764328003},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08221149444580078},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icpr56361.2022.9956238","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icpr56361.2022.9956238","pdf_url":null,"source":{"id":"https://openalex.org/S4363607731","display_name":"2022 26th International Conference on Pattern Recognition (ICPR)","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 26th International Conference on Pattern Recognition (ICPR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.41999998688697815,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W1644641054","https://openalex.org/W2150066425","https://openalex.org/W2560609797","https://openalex.org/W2591997370","https://openalex.org/W2769473888","https://openalex.org/W2788158258","https://openalex.org/W2797997528","https://openalex.org/W2963121255","https://openalex.org/W2963182550","https://openalex.org/W2963226018","https://openalex.org/W2963420686","https://openalex.org/W2991216808","https://openalex.org/W2998496395","https://openalex.org/W3000467754","https://openalex.org/W3012494314","https://openalex.org/W3034681945","https://openalex.org/W3035002114","https://openalex.org/W3035275207","https://openalex.org/W3035574168","https://openalex.org/W3035617611","https://openalex.org/W3040741167","https://openalex.org/W3048252687","https://openalex.org/W3080432947","https://openalex.org/W3087257704","https://openalex.org/W3100646853","https://openalex.org/W3109154950","https://openalex.org/W3109282191","https://openalex.org/W3109944402","https://openalex.org/W3110951258","https://openalex.org/W3137210930","https://openalex.org/W3172620719","https://openalex.org/W3177330511","https://openalex.org/W3181190968","https://openalex.org/W3190624940","https://openalex.org/W3198790326","https://openalex.org/W4235727425","https://openalex.org/W4287554952","https://openalex.org/W4294558607","https://openalex.org/W4297733535","https://openalex.org/W6637108133","https://openalex.org/W6738964360","https://openalex.org/W6739778489","https://openalex.org/W6743731764","https://openalex.org/W6746181073","https://openalex.org/W6763422710","https://openalex.org/W6780257433","https://openalex.org/W6782063732","https://openalex.org/W6784977419","https://openalex.org/W6788009311","https://openalex.org/W6801049755"],"related_works":["https://openalex.org/W4244478748","https://openalex.org/W4223488648","https://openalex.org/W2134969820","https://openalex.org/W2251605416","https://openalex.org/W2560439919","https://openalex.org/W4389340727","https://openalex.org/W3150465815","https://openalex.org/W1997222214","https://openalex.org/W4399442168","https://openalex.org/W2114282491"],"abstract_inverted_index":{"Inspired":[0],"by":[1],"recent":[2],"improvements":[3],"in":[4,47,116,119],"point":[5,28,92,112,155],"cloud":[6,93],"processing":[7,20,150],"for":[8,19,160,170],"autonomous":[9],"navigation,":[10],"we":[11,64,152],"focus":[12],"on":[13,174],"using":[14],"hierarchical":[15],"graph":[16,80,101],"neural":[17],"networks":[18,102],"and":[21,43,142,157],"feature":[22],"learning":[23,58],"over":[24,59,89],"large-scale":[25],"outdoor":[26,48],"LiDAR":[27],"clouds.":[29],"We":[30,123],"observe":[31],"that":[32,98,132],"existing":[33,99],"GNN":[34,158],"based":[35,156],"methods":[36],"fail":[37],"to":[38,53,82,87,104,113],"overcome":[39],"challenges":[40],"of":[41,45,79],"scale":[42],"irregularity":[44],"points":[46],"datasets.":[49],"Addressing":[50],"the":[51,148,175],"need":[52],"preserve":[54],"structural":[55],"details":[56,97],"while":[57,94],"a":[60,90,111,120,127,167],"larger":[61],"volume":[62],"efficiently,":[63],"propose":[65],"Hierarchical":[66],"Point":[67],"Graph":[68,143],"Neural":[69],"Network":[70],"(HPGNN).":[71],"It":[72],"learns":[73],"node":[74],"features":[75,115],"at":[76],"various":[77],"levels":[78,109],"coarseness":[81],"extract":[83],"information.":[84],"This":[85],"enables":[86],"learn":[88,114],"large":[91],"retaining":[95],"fine":[96],"pointlevel":[100],"struggle":[103],"achieve.":[105],"Connections":[106],"between":[107],"multiple":[108,117],"enable":[110],"scales,":[118],"few":[121],"iterations.":[122],"design":[124],"HPGNN":[125],"as":[126,137],"purely":[128],"GNN-based":[129],"approach,":[130],"so":[131],"it":[133],"offers":[134],"modular":[135],"expandability":[136],"seen":[138],"with":[139,163],"other":[140],"point-based":[141],"network":[144],"baselines.":[145],"To":[146],"illustrate":[147],"improved":[149],"capability,":[151],"compare":[153],"previous":[154],"models":[159],"semantic":[161],"segmentation":[162],"our":[164],"HPGNN,":[165],"achieving":[166],"significant":[168],"improvement":[169],"GNNs":[171],"(+36.7":[172],"mIoU)":[173],"SemanticKITTI":[176],"dataset.*":[177]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2023-01-06T00:00:00"}