{"id":"https://openalex.org/W2968847206","doi":"https://doi.org/10.1109/icra.2019.8793523","title":"BLVD: Building A Large-scale 5D Semantics Benchmark for Autonomous Driving","display_name":"BLVD: Building A Large-scale 5D Semantics Benchmark for Autonomous Driving","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2968847206","doi":"https://doi.org/10.1109/icra.2019.8793523","mag":"2968847206"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8793523","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793523","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","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/A5024309592","display_name":"Jianru Xue","orcid":"https://orcid.org/0000-0002-4994-9343"},"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":"Jianru Xue","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xian Jiaotong University, Xi\u2019an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xian Jiaotong University, Xi\u2019an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042245655","display_name":"Jianwu Fang","orcid":"https://orcid.org/0000-0002-0300-6892"},"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":"Jianwu Fang","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xian Jiaotong University, Xi\u2019an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xian Jiaotong University, Xi\u2019an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100440820","display_name":"Tao Li","orcid":"https://orcid.org/0000-0003-0575-6483"},"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":"Tao Li","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xian Jiaotong University, Xi\u2019an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xian Jiaotong University, Xi\u2019an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011172012","display_name":"Bohua Zhang","orcid":"https://orcid.org/0000-0002-9329-0507"},"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":"Bohua Zhang","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xian Jiaotong University, Xi\u2019an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xian Jiaotong University, Xi\u2019an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021208108","display_name":"Pu Zhang","orcid":"https://orcid.org/0000-0002-1205-3826"},"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":"Pu Zhang","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xian Jiaotong University, Xi\u2019an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xian Jiaotong University, Xi\u2019an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100731638","display_name":"Zhen Ye","orcid":"https://orcid.org/0009-0007-0687-9879"},"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":"Zhen Ye","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xian Jiaotong University, Xi\u2019an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xian Jiaotong University, Xi\u2019an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101070548","display_name":"Jian Dou","orcid":null},"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":"Jian Dou","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xian Jiaotong University, Xi\u2019an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xian Jiaotong University, Xi\u2019an, China","institution_ids":["https://openalex.org/I87445476"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I87445476"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":58,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6685","last_page":"6691"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9998999834060669,"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":0.9998999834060669,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998000264167786,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9997000098228455,"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/benchmark","display_name":"Benchmark (surveying)","score":0.8815038800239563},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8068565130233765},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.7675818204879761},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.6433253288269043},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6149957180023193},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5828425884246826},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.545886754989624},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.47690486907958984},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.41356968879699707},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37287330627441406},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.34761345386505127},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.10525533556938171}],"concepts":[{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.8815038800239563},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8068565130233765},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.7675818204879761},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.6433253288269043},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6149957180023193},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5828425884246826},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.545886754989624},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.47690486907958984},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.41356968879699707},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37287330627441406},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.34761345386505127},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.10525533556938171},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2019.8793523","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793523","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","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/W805682279","https://openalex.org/W2031489346","https://openalex.org/W2064675550","https://openalex.org/W2115579991","https://openalex.org/W2122088301","https://openalex.org/W2124781496","https://openalex.org/W2133029060","https://openalex.org/W2137097255","https://openalex.org/W2340897893","https://openalex.org/W2424778531","https://openalex.org/W2431874326","https://openalex.org/W2467828995","https://openalex.org/W2511791013","https://openalex.org/W2528724382","https://openalex.org/W2545225635","https://openalex.org/W2547066360","https://openalex.org/W2554777878","https://openalex.org/W2561513859","https://openalex.org/W2561603333","https://openalex.org/W2594507094","https://openalex.org/W2766836212","https://openalex.org/W2781228439","https://openalex.org/W2790504560","https://openalex.org/W2791763440","https://openalex.org/W2799352588","https://openalex.org/W2802519414","https://openalex.org/W2811025443","https://openalex.org/W2963292632","https://openalex.org/W2964333437","https://openalex.org/W3104641012","https://openalex.org/W6725558437","https://openalex.org/W6745560713","https://openalex.org/W6750749703"],"related_works":["https://openalex.org/W2095705906","https://openalex.org/W1967061043","https://openalex.org/W2019566805","https://openalex.org/W2975200075","https://openalex.org/W2007544051","https://openalex.org/W2732308154","https://openalex.org/W2613186388","https://openalex.org/W2187221949","https://openalex.org/W1988485990","https://openalex.org/W3177406559"],"abstract_inverted_index":{"In":[0],"autonomous":[1],"driving":[2],"community,":[3],"numerous":[4],"benchmarks":[5],"have":[6],"been":[7],"established":[8],"to":[9,71],"assist":[10],"the":[11,22,28,58,76,95,118,153],"tasks":[12,64,77,143],"of":[13,27,31,78,98,120,149],"3D/2D":[14],"object":[15,154],"detection,":[16],"stereo":[17],"vision,":[18],"semantic/instance":[19,62],"segmentation.":[20],"However,":[21],"more":[23],"meaningful":[24],"dynamic":[25,79],"evolution":[26],"surrounding":[29],"objects":[30],"ego-vehicle":[32],"is":[33],"rarely":[34],"exploited,":[35],"and":[36,88,134,157,159,163],"lacks":[37],"a":[38,48,73],"large-scale":[39,49],"dataset":[40],"platform.":[41],"To":[42],"address":[43],"this,":[44],"we":[45],"introduce":[46],"BLVD,":[47],"5D":[50,83,130,139],"semantics":[51],"benchmark":[52,92,166],"which":[53],"does":[54],"not":[55],"concentrate":[56],"on":[57,152],"static":[59],"detection":[60],"or":[61],"segmentation":[63],"tackled":[65],"adequately":[66],"before.":[67,103],"Instead,":[68],"BLVD":[69],"aims":[70],"provide":[72],"platform":[74],"for":[75,115,129,138],"4D":[80],"(3D+temporal)":[81],"tracking,":[82],"(4D+interactive)":[84],"interactive":[85,131],"event":[86,132],"recognition":[87],"intention":[89,140],"prediction.":[90,141],"This":[91],"will":[93],"boost":[94],"deeper":[96],"understanding":[97],"traffic":[99],"scenes":[100],"than":[101],"ever":[102],"We":[104],"totally":[105],"yield":[106],"249,":[107],"129":[108],"3D":[109],"annotations,":[110],"4,":[111,135],"902":[112],"independent":[113],"individuals":[114,137],"tracking":[116],"with":[117],"length":[119],"overall":[121],"214,":[122],"922":[123],"points,":[124],"6,":[125],"004":[126],"valid":[127],"fragments":[128],"recognition,":[133],"900":[136],"These":[142],"are":[144],"contained":[145],"in":[146],"four":[147],"kinds":[148],"scenarios":[150],"depending":[151],"density":[155],"(low":[156],"high)":[158],"light":[160],"conditions":[161],"(daytime":[162],"nighttime).":[164],"The":[165],"can":[167],"be":[168],"downloaded":[169],"from":[170],"our":[171],"project":[172],"site":[173],"https://github.com/VCCIV/BLVD/.":[174]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":12},{"year":2019,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
