{"id":"https://openalex.org/W4383097534","doi":"https://doi.org/10.1109/icra48891.2023.10161027","title":"Analyzing Infrastructure LiDAR Placement with Realistic LiDAR Simulation Library","display_name":"Analyzing Infrastructure LiDAR Placement with Realistic LiDAR Simulation Library","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383097534","doi":"https://doi.org/10.1109/icra48891.2023.10161027"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161027","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161027","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":"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/A5101482632","display_name":"Xinyu Cai","orcid":"https://orcid.org/0009-0002-9611-6237"},"institutions":[{"id":"https://openalex.org/I4391012619","display_name":"Shanghai Artificial Intelligence Laboratory","ror":"https://ror.org/03wkvpx79","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391012619"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xinyu Cai","raw_affiliation_strings":["Shanghai AI Laboratory,Autonomous Driving Group,China","Autonomous Driving Group, Shanghai AI Laboratory, China"],"affiliations":[{"raw_affiliation_string":"Shanghai AI Laboratory,Autonomous Driving Group,China","institution_ids":["https://openalex.org/I4391012619"]},{"raw_affiliation_string":"Autonomous Driving Group, Shanghai AI Laboratory, China","institution_ids":["https://openalex.org/I4391012619"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048736603","display_name":"Wentao Jiang","orcid":"https://orcid.org/0000-0002-2064-6760"},"institutions":[{"id":"https://openalex.org/I4210105595","display_name":"Institute of Art","ror":"https://ror.org/017fyx225","country_code":"PL","type":"facility","lineage":["https://openalex.org/I4210105595","https://openalex.org/I99542240"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN","PL"],"is_corresponding":false,"raw_author_name":"Wentao Jiang","raw_affiliation_strings":["Institute of Artificial Intelligence, Beihang University"],"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence, Beihang University","institution_ids":["https://openalex.org/I82880672","https://openalex.org/I4210105595"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100700826","display_name":"Runsheng Xu","orcid":"https://orcid.org/0000-0001-7375-9833"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Runsheng Xu","raw_affiliation_strings":["University of California,Los Angeles,USA","University of California, Los Angeles, USA"],"affiliations":[{"raw_affiliation_string":"University of California,Los Angeles,USA","institution_ids":["https://openalex.org/I161318765"]},{"raw_affiliation_string":"University of California, Los Angeles, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101487643","display_name":"Wenquan Zhao","orcid":"https://orcid.org/0000-0002-2958-1182"},"institutions":[{"id":"https://openalex.org/I4391012619","display_name":"Shanghai Artificial Intelligence Laboratory","ror":"https://ror.org/03wkvpx79","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391012619"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenquan Zhao","raw_affiliation_strings":["Shanghai AI Laboratory,Autonomous Driving Group,China","Autonomous Driving Group, Shanghai AI Laboratory, China"],"affiliations":[{"raw_affiliation_string":"Shanghai AI Laboratory,Autonomous Driving Group,China","institution_ids":["https://openalex.org/I4391012619"]},{"raw_affiliation_string":"Autonomous Driving Group, Shanghai AI Laboratory, China","institution_ids":["https://openalex.org/I4391012619"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068374815","display_name":"Jiaqi Ma","orcid":"https://orcid.org/0000-0002-8184-5157"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jiaqi Ma","raw_affiliation_strings":["University of California,Los Angeles,USA","University of California, Los Angeles, USA"],"affiliations":[{"raw_affiliation_string":"University of California,Los Angeles,USA","institution_ids":["https://openalex.org/I161318765"]},{"raw_affiliation_string":"University of California, Los Angeles, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100330138","display_name":"Si Liu","orcid":"https://orcid.org/0000-0002-9180-2935"},"institutions":[{"id":"https://openalex.org/I4210105595","display_name":"Institute of Art","ror":"https://ror.org/017fyx225","country_code":"PL","type":"facility","lineage":["https://openalex.org/I4210105595","https://openalex.org/I99542240"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN","PL"],"is_corresponding":false,"raw_author_name":"Si Liu","raw_affiliation_strings":["Institute of Artificial Intelligence, Beihang University"],"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence, Beihang University","institution_ids":["https://openalex.org/I82880672","https://openalex.org/I4210105595"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100610027","display_name":"Yikang Li","orcid":"https://orcid.org/0000-0002-3508-510X"},"institutions":[{"id":"https://openalex.org/I4391012619","display_name":"Shanghai Artificial Intelligence Laboratory","ror":"https://ror.org/03wkvpx79","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391012619"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yikang Li","raw_affiliation_strings":["Shanghai AI Laboratory,Autonomous Driving Group,China","Autonomous Driving Group, Shanghai AI Laboratory, China"],"affiliations":[{"raw_affiliation_string":"Shanghai AI Laboratory,Autonomous Driving Group,China","institution_ids":["https://openalex.org/I4391012619"]},{"raw_affiliation_string":"Autonomous Driving Group, Shanghai AI Laboratory, China","institution_ids":["https://openalex.org/I4391012619"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5101482632"],"corresponding_institution_ids":["https://openalex.org/I4391012619"],"apc_list":null,"apc_paid":null,"fwci":3.723,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.9370019,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"5581","last_page":"5587"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9998000264167786,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9901999831199646,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.96204674243927},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6440145969390869},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.48654690384864807},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2579087018966675}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.96204674243927},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6440145969390869},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.48654690384864807},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2579087018966675}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161027","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161027","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.6399999856948853,"display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1991264156","https://openalex.org/W2150595850","https://openalex.org/W2555618208","https://openalex.org/W2560609797","https://openalex.org/W2735344741","https://openalex.org/W2753666234","https://openalex.org/W2769571673","https://openalex.org/W2796096089","https://openalex.org/W2885285090","https://openalex.org/W2890683314","https://openalex.org/W2891529090","https://openalex.org/W2903920444","https://openalex.org/W2945662945","https://openalex.org/W2963721253","https://openalex.org/W2963727135","https://openalex.org/W2968296999","https://openalex.org/W2985739927","https://openalex.org/W2990766893","https://openalex.org/W2997337685","https://openalex.org/W3003474258","https://openalex.org/W3027789438","https://openalex.org/W3034716600","https://openalex.org/W3099573654","https://openalex.org/W3105338106","https://openalex.org/W3109991383","https://openalex.org/W3131387676","https://openalex.org/W3155757046","https://openalex.org/W3187263517","https://openalex.org/W3201193904","https://openalex.org/W3204079132","https://openalex.org/W3212352499","https://openalex.org/W4295719664","https://openalex.org/W4298299490","https://openalex.org/W4312571135","https://openalex.org/W4312604822","https://openalex.org/W4312947590","https://openalex.org/W4313162344","https://openalex.org/W4383108597","https://openalex.org/W6745935785","https://openalex.org/W6748766184","https://openalex.org/W6763422710","https://openalex.org/W6781472134","https://openalex.org/W6794583472","https://openalex.org/W6802966573","https://openalex.org/W6847464493"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2351984678","https://openalex.org/W2140032575","https://openalex.org/W2011860471","https://openalex.org/W2012196540","https://openalex.org/W3011451421"],"abstract_inverted_index":{"Recently,":[0],"Vehicle-to-Everything":[1],"(V2X)":[2],"cooperative":[3],"perception":[4,111,131,186],"has":[5],"attracted":[6],"increasing":[7],"attention.":[8],"Infrastructure":[9],"sensors":[10,28,58],"play":[11],"a":[12,45,60,73],"critical":[13],"role":[14],"in":[15,59,94,103,175,188],"this":[16,33],"research":[17],"field;":[18],"however,":[19],"how":[20],"to":[21],"find":[22,52],"the":[23,37,81,95,110,123,126,135,148,155,164,171,176,183,189,210],"optimal":[24,53],"placement":[25,42,156,173],"of":[26,39,84,113,139,141,153,191,207],"infrastructure":[27,40,57],"is":[29],"rarely":[30],"studied.":[31],"In":[32],"paper,":[34],"we":[35,71,107,121],"investigate":[36],"problem":[38],"sensor":[41],"and":[43,50,67,88,130,137,151,193,198,202,213],"propose":[44],"pipeline":[46],"that":[47,78,145,200],"can":[48,79,108,204],"efficiently":[49],"effectively":[51],"installation":[54],"positions":[55],"for":[56],"realistic":[61],"simulated":[62],"environment.":[63],"To":[64],"better":[65],"simulate":[66,80],"evaluate":[68,109],"LiDAR":[69,75,91,105,194],"place-ment,":[70],"establish":[72],"Realistic":[74],"Simulation":[76],"library":[77],"unique":[82],"characteristics":[83],"different":[85,104],"popular":[86],"LiDARs":[87],"produce":[89],"high-fidelity":[90],"point":[92,100,127,195],"clouds":[93],"CARLA":[96],"simulator.":[97],"Through":[98],"simulating":[99],"cloud":[101,128,196],"data":[102],"placements,":[106],"accuracy":[112,132],"these":[114],"placements":[115],"using":[116,147],"multiple":[117],"detection":[118],"models.":[119],"Then,":[120],"analyze":[122,182],"correlation":[124,184],"between":[125,185],"distribution":[129,197],"by":[133,159,167],"calculating":[134],"density":[136,201],"uniformity":[138,203],"regions":[140],"interest.":[142],"Experiments":[143],"show":[144],"when":[146],"same":[149],"number":[150],"type":[152],"LiDAR,":[154],"scheme":[157,174],"optimized":[158],"our":[160],"proposed":[161],"method":[162],"improves":[163],"average":[165],"precision":[166],"15%,":[168],"compared":[169],"with":[170],"conventional":[172],"standard":[177],"lane":[178],"scene.":[179],"We":[180],"also":[181],"performance":[187],"region":[190],"interest":[192],"validate":[199],"be":[205,217],"indicators":[206],"performance.":[208],"Both":[209],"RLS":[211],"Library":[212],"related":[214],"code":[215],"will":[216],"released":[218],"at":[219],"https://github.com/PJLab-ADG/LiDARSimLib-and-Placement-Evaluation.":[220]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":2}],"updated_date":"2026-03-18T14:38:29.013473","created_date":"2025-10-10T00:00:00"}