{"id":"https://openalex.org/W4280528849","doi":"https://doi.org/10.1109/icra46639.2022.9812282","title":"Multi-Class 3D Object Detection with Single-Class Supervision","display_name":"Multi-Class 3D Object Detection with Single-Class Supervision","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4280528849","doi":"https://doi.org/10.1109/icra46639.2022.9812282"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812282","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812282","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","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/A5100682790","display_name":"Mao Ye","orcid":"https://orcid.org/0000-0003-4760-8702"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mao Ye","raw_affiliation_strings":["The University of Texas at Austin"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100387427","display_name":"Chenxi Liu","orcid":"https://orcid.org/0000-0002-9134-1235"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chenxi Liu","raw_affiliation_strings":["Waymo"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waymo","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020587620","display_name":"Maoqing Yao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Maoqing Yao","raw_affiliation_strings":["Waymo"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waymo","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102747545","display_name":"Weiyue Wang","orcid":"https://orcid.org/0000-0002-8114-8271"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Weiyue Wang","raw_affiliation_strings":["Waymo"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waymo","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003789189","display_name":"Zhaoqi Leng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhaoqi Leng","raw_affiliation_strings":["Waymo"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waymo","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027357870","display_name":"Charles R. Qi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Charles R. Qi","raw_affiliation_strings":["Waymo"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waymo","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081024054","display_name":"Dragomir Anguelov","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dragomir Anguelov","raw_affiliation_strings":["Waymo"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waymo","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.059,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.23461347,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"32","issue":null,"first_page":"5123","last_page":"5130"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9991000294685364,"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":0.9984999895095825,"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/class","display_name":"Class (philosophy)","score":0.7418042421340942},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6609519720077515},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.470449835062027},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3694819211959839}],"concepts":[{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.7418042421340942},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6609519720077515},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.470449835062027},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3694819211959839}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9812282","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812282","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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 International Conference on Robotics and Automation (ICRA)","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":46,"referenced_works":["https://openalex.org/W2079057609","https://openalex.org/W2150066425","https://openalex.org/W2293363371","https://openalex.org/W2431080869","https://openalex.org/W2897529137","https://openalex.org/W2943152387","https://openalex.org/W2949708697","https://openalex.org/W2951970475","https://openalex.org/W2953070460","https://openalex.org/W2963120444","https://openalex.org/W2963292632","https://openalex.org/W2963351448","https://openalex.org/W2963727135","https://openalex.org/W2964159205","https://openalex.org/W2968296999","https://openalex.org/W2970369250","https://openalex.org/W2981581281","https://openalex.org/W2991216808","https://openalex.org/W2997664062","https://openalex.org/W3001197829","https://openalex.org/W3017361373","https://openalex.org/W3021472582","https://openalex.org/W3021542222","https://openalex.org/W3022261194","https://openalex.org/W3031752193","https://openalex.org/W3034314779","https://openalex.org/W3035057392","https://openalex.org/W3035160371","https://openalex.org/W3035172746","https://openalex.org/W3035680157","https://openalex.org/W3118629228","https://openalex.org/W3120055985","https://openalex.org/W3130976481","https://openalex.org/W3171581326","https://openalex.org/W3175563878","https://openalex.org/W3176457187","https://openalex.org/W3176748778","https://openalex.org/W3178218920","https://openalex.org/W4287285954","https://openalex.org/W4288020585","https://openalex.org/W6681588610","https://openalex.org/W6717772578","https://openalex.org/W6766773940","https://openalex.org/W6769571200","https://openalex.org/W6773005947","https://openalex.org/W6789505266"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W4402327032","https://openalex.org/W2382290278"],"abstract_inverted_index":{"While":[0],"multi-class":[1,44,89],"3D":[2,45],"detectors":[3],"are":[4,39],"needed":[5],"in":[6,19,41],"many":[7],"robotics":[8],"applications,":[9],"training":[10,42,87,141,150],"them":[11],"with":[12,68],"fully":[13,110],"labeled":[14,53],"datasets":[15],"can":[16,144],"be":[17],"expensive":[18],"labeling":[20,153],"cost.":[21],"An":[22],"alternative":[23],"approach":[24,145],"is":[25],"to":[26,70,106,109,123],"have":[27],"targeted":[28],"single-class":[29,52],"labels":[30],"on":[31,82,133],"disjoint":[32],"data":[33],"samples.":[34],"In":[35],"this":[36],"paper,":[37],"we":[38,96],"interested":[40],"a":[43,98],"object":[46],"detection":[47],"model,":[48],"while":[49,151],"using":[50],"these":[51],"data.":[54],"We":[55],"begin":[56],"by":[57],"detailing":[58],"the":[59,83,88,112,125,134],"unique":[60],"stance":[61],"of":[62,86,91,100,114],"our":[63,115],"\u201cSingle-Class":[64],"Supervision\u201d":[65],"(SCS)":[66],"setting":[67],"respect":[69],"related":[71],"concepts":[72],"such":[73],"as":[74],"partial":[75],"supervision":[76,149],"and":[77,118,129],"semi":[78],"supervision.":[79],"Then,":[80],"based":[81],"case":[84],"study":[85],"version":[90],"Range":[92],"Sparse":[93],"Net":[94],"(RSN),":[95],"adapt":[97],"spectrum":[99],"algorithms":[101],"-":[102,108],"from":[103],"supervised":[104],"learning":[105],"pseudo-labeling":[107],"exploit":[111],"properties":[113],"SCS":[116,143],"setting,":[117],"perform":[119],"extensive":[120],"ablation":[121],"studies":[122],"identify":[124],"most":[126],"effective":[127],"algorithm":[128],"practice.":[130],"Empirical":[131],"experiments":[132],"Waymo":[135],"Open":[136],"Dataset":[137],"show":[138],"that":[139],"proper":[140],"under":[142],"or":[146],"match":[147],"full":[148],"saving":[152],"costs.":[154]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}