{"id":"https://openalex.org/W4383108398","doi":"https://doi.org/10.1109/icra48891.2023.10160539","title":"COLA: COarse LAbel pre-training for 3D semantic segmentation of sparse LiDAR datasets","display_name":"COLA: COarse LAbel pre-training for 3D semantic segmentation of sparse LiDAR datasets","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108398","doi":"https://doi.org/10.1109/icra48891.2023.10160539"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160539","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160539","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 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/A5081557339","display_name":"Jules Sanchez","orcid":"https://orcid.org/0000-0002-8104-0930"},"institutions":[{"id":"https://openalex.org/I2746051580","display_name":"Universit\u00e9 Paris Sciences et Lettres","ror":"https://ror.org/013cjyk83","country_code":"FR","type":"education","lineage":["https://openalex.org/I2746051580"]},{"id":"https://openalex.org/I4210154688","display_name":"H\u00f4pital Saint-Michel","ror":"https://ror.org/057v2pg43","country_code":"FR","type":"healthcare","lineage":["https://openalex.org/I4210154688"]},{"id":"https://openalex.org/I4403386650","display_name":"Centre de Robotique","ror":"https://ror.org/0180r7w69","country_code":null,"type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I4403386650","https://openalex.org/I70768539"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Jules Sanchez","raw_affiliation_strings":["PSL University,Centre for Robotics, Mines Paris - PSL,Paris,France,75006","CAOR - Centre de Robotique (60, boulevard Saint-Michel 75272 Paris cedex 06 - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"PSL University,Centre for Robotics, Mines Paris - PSL,Paris,France,75006","institution_ids":["https://openalex.org/I2746051580"]},{"raw_affiliation_string":"CAOR - Centre de Robotique (60, boulevard Saint-Michel 75272 Paris cedex 06 - France)","institution_ids":["https://openalex.org/I4210154688","https://openalex.org/I4403386650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064543212","display_name":"Jean\u2010Emmanuel Deschaud","orcid":"https://orcid.org/0000-0002-6696-9354"},"institutions":[{"id":"https://openalex.org/I2746051580","display_name":"Universit\u00e9 Paris Sciences et Lettres","ror":"https://ror.org/013cjyk83","country_code":"FR","type":"education","lineage":["https://openalex.org/I2746051580"]},{"id":"https://openalex.org/I4210154688","display_name":"H\u00f4pital Saint-Michel","ror":"https://ror.org/057v2pg43","country_code":"FR","type":"healthcare","lineage":["https://openalex.org/I4210154688"]},{"id":"https://openalex.org/I4403386650","display_name":"Centre de Robotique","ror":"https://ror.org/0180r7w69","country_code":null,"type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I4403386650","https://openalex.org/I70768539"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Jean-Emmanuel Deschaud","raw_affiliation_strings":["PSL University,Centre for Robotics, Mines Paris - PSL,Paris,France,75006","CAOR - Centre de Robotique (60, boulevard Saint-Michel 75272 Paris cedex 06 - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"PSL University,Centre for Robotics, Mines Paris - PSL,Paris,France,75006","institution_ids":["https://openalex.org/I2746051580"]},{"raw_affiliation_string":"CAOR - Centre de Robotique (60, boulevard Saint-Michel 75272 Paris cedex 06 - France)","institution_ids":["https://openalex.org/I4210154688","https://openalex.org/I4403386650"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036488253","display_name":"Fran\u00e7ois Goulette","orcid":"https://orcid.org/0000-0003-1527-2650"},"institutions":[{"id":"https://openalex.org/I4210154688","display_name":"H\u00f4pital Saint-Michel","ror":"https://ror.org/057v2pg43","country_code":"FR","type":"healthcare","lineage":["https://openalex.org/I4210154688"]},{"id":"https://openalex.org/I4403386650","display_name":"Centre de Robotique","ror":"https://ror.org/0180r7w69","country_code":null,"type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I4403386650","https://openalex.org/I70768539"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Fran\u00e7ois Goulette","raw_affiliation_strings":["U2IS, ENSTA Paris, Institut Polytechnique de Paris,Palaiseau,France,1120","CAOR - Centre de Robotique (60, boulevard Saint-Michel 75272 Paris cedex 06 - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"U2IS, ENSTA Paris, Institut Polytechnique de Paris,Palaiseau,France,1120","institution_ids":[]},{"raw_affiliation_string":"CAOR - Centre de Robotique (60, boulevard Saint-Michel 75272 Paris cedex 06 - France)","institution_ids":["https://openalex.org/I4210154688","https://openalex.org/I4403386650"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.2138,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.86217822,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"11343","last_page":"11350"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9990000128746033,"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":0.9990000128746033,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9987999796867371,"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":0.9980999827384949,"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":0.8676060438156128},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.8464723825454712},{"id":"https://openalex.org/keywords/cola","display_name":"Cola (plant)","score":0.6855772733688354},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6718039512634277},{"id":"https://openalex.org/keywords/training-set","display_name":"Training set","score":0.6201901435852051},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6161013841629028},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6128365397453308},{"id":"https://openalex.org/keywords/annotation","display_name":"Annotation","score":0.555679440498352},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5348172783851624},{"id":"https://openalex.org/keywords/labeled-data","display_name":"Labeled data","score":0.5333296060562134},{"id":"https://openalex.org/keywords/transfer-of-learning","display_name":"Transfer of learning","score":0.48843255639076233},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.4549625813961029},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4533771872520447},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3933081030845642}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8676060438156128},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.8464723825454712},{"id":"https://openalex.org/C2781138811","wikidata":"https://www.wikidata.org/wiki/Q114264","display_name":"Cola (plant)","level":2,"score":0.6855772733688354},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6718039512634277},{"id":"https://openalex.org/C51632099","wikidata":"https://www.wikidata.org/wiki/Q3985153","display_name":"Training set","level":2,"score":0.6201901435852051},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6161013841629028},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6128365397453308},{"id":"https://openalex.org/C2776321320","wikidata":"https://www.wikidata.org/wiki/Q857525","display_name":"Annotation","level":2,"score":0.555679440498352},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5348172783851624},{"id":"https://openalex.org/C2776145971","wikidata":"https://www.wikidata.org/wiki/Q30673951","display_name":"Labeled data","level":2,"score":0.5333296060562134},{"id":"https://openalex.org/C150899416","wikidata":"https://www.wikidata.org/wiki/Q1820378","display_name":"Transfer of learning","level":2,"score":0.48843255639076233},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.4549625813961029},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4533771872520447},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3933081030845642},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra48891.2023.10160539","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160539","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-04382763v1","is_oa":false,"landing_page_url":"https://hal.science/hal-04382763","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA 2023), May 2023, Londres, United Kingdom. pp.11343-11350, ⟨10.1109/ICRA48891.2023.10160539⟩","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.5099999904632568,"display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W1920022804","https://openalex.org/W2140262469","https://openalex.org/W2150066425","https://openalex.org/W2560609797","https://openalex.org/W2594519801","https://openalex.org/W2797997528","https://openalex.org/W2901870313","https://openalex.org/W2963121255","https://openalex.org/W2963125977","https://openalex.org/W2963158438","https://openalex.org/W2963318290","https://openalex.org/W2963506806","https://openalex.org/W2963787264","https://openalex.org/W2964162504","https://openalex.org/W2971990092","https://openalex.org/W2981983525","https://openalex.org/W2982362232","https://openalex.org/W2990613095","https://openalex.org/W2991216808","https://openalex.org/W3003437478","https://openalex.org/W3012494314","https://openalex.org/W3035086574","https://openalex.org/W3035275207","https://openalex.org/W3035574168","https://openalex.org/W3036560856","https://openalex.org/W3106827427","https://openalex.org/W3109154950","https://openalex.org/W3109944402","https://openalex.org/W3116959466","https://openalex.org/W3119197669","https://openalex.org/W3137210930","https://openalex.org/W3166573884","https://openalex.org/W3174654838","https://openalex.org/W3177330511","https://openalex.org/W3193847548","https://openalex.org/W3203240897","https://openalex.org/W3203706456","https://openalex.org/W4206778101","https://openalex.org/W4226029765","https://openalex.org/W4312270234","https://openalex.org/W4312317653","https://openalex.org/W4312454424","https://openalex.org/W4312456860","https://openalex.org/W4313014889","https://openalex.org/W4313484219","https://openalex.org/W4394635593","https://openalex.org/W4394671432","https://openalex.org/W6640300118","https://openalex.org/W6739778489","https://openalex.org/W6761689847","https://openalex.org/W6775532410","https://openalex.org/W6790487774","https://openalex.org/W6801880476","https://openalex.org/W6802206988"],"related_works":["https://openalex.org/W3193920202","https://openalex.org/W4318813552","https://openalex.org/W2576964996","https://openalex.org/W4317548404","https://openalex.org/W3022007134","https://openalex.org/W2130553454","https://openalex.org/W2087783760","https://openalex.org/W2033364610","https://openalex.org/W2797776314","https://openalex.org/W3163689946"],"abstract_inverted_index":{"Transfer":[0],"learning":[1],"is":[2,38,190],"a":[3,42,90,139,143,153,180,187],"proven":[4],"technique":[5],"in":[6,25],"2D":[7],"computer":[8],"vision":[9],"to":[10,28,40,54,123,138],"leverage":[11],"the":[12,29,68,120,166,193],"large":[13],"amount":[14],"of":[15,31,70,75,146,168],"data":[16,121],"available":[17,122,191],"and":[18,112,173,175],"achieve":[19],"high":[20],"performance":[21,182],"with":[22],"datasets":[23,82,172],"limited":[24],"size":[26],"due":[27],"cost":[30],"acquisition":[32],"or":[33],"annotation.":[34],"In":[35,63],"3D,":[36],"annotation":[37],"known":[39],"be":[41,107,124],"costly":[43],"task;":[44],"nevertheless,":[45],"pre-training":[46],"methods":[47],"have":[48,83,136],"only":[49,186],"recently":[50],"been":[51,60,84],"investigated.":[52],"Due":[53],"this":[55,64],"cost,":[56],"unsupervised":[57],"pretraining":[58,155],"has":[59,89],"heavily":[61],"favored.":[62],"work,":[65],"we":[66,135,151],"tackle":[67],"case":[69],"real-time":[71],"3D":[72],"semantic":[73,147],"segmentation":[74],"sparse":[76],"autonomous":[77,114],"driving":[78,115],"LiDAR":[79],"scans.":[80],"Such":[81],"increasingly":[85],"released,":[86],"but":[87],"each":[88],"unique":[91],"label":[92,99,158],"set.":[93],"We":[94,163],"propose":[95],"here":[96],"an":[97],"intermediate-level":[98],"set":[100],"called":[101,161],"coarse":[102,157],"labels,":[103],"which":[104],"can":[105],"easily":[106],"used":[108],"on":[109,170],"any":[110,129],"existing":[111],"future":[113],"datasets,":[116],"thus":[117],"allowing":[118],"all":[119],"leveraged":[125],"at":[126],"once":[127],"without":[128],"additional":[130],"manual":[131],"labeling.":[132],"This":[133],"way,":[134],"access":[137],"larger":[140],"dataset,":[141],"alongside":[142],"simple":[144],"task":[145],"segmentation.":[148],"With":[149],"it,":[150],"introduce":[152],"new":[154],"task:":[156],"pre-training,":[159],"also":[160],"COLA.":[162],"thoroughly":[164],"analyze":[165],"impact":[167],"COLA":[169],"various":[171],"architectures":[174],"show":[176],"that":[177],"it":[178],"yields":[179],"noticeable":[181],"improvement,":[183],"especially":[184],"when":[185],"small":[188],"dataset":[189],"for":[192],"finetuning":[194],"task.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}