{"id":"https://openalex.org/W4401416618","doi":"https://doi.org/10.1109/icra57147.2024.10610427","title":"VeloVox: A Low-Cost and Accurate 4D Object Detector with Single-Frame Point Cloud of Livox LiDAR","display_name":"VeloVox: A Low-Cost and Accurate 4D Object Detector with Single-Frame Point Cloud of Livox LiDAR","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416618","doi":"https://doi.org/10.1109/icra57147.2024.10610427"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610427","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10610427","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5003991860","display_name":"Tao Ma","orcid":"https://orcid.org/0000-0003-3803-2748"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Tao Ma","raw_affiliation_strings":["The Chinese University of Hong Kong,Multimedia Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Multimedia Laboratory","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107959210","display_name":"Zhiwei Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhiwei Zheng","raw_affiliation_strings":["University of California,Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110823442","display_name":"Hongbin Zhou","orcid":"https://orcid.org/0009-0005-7569-1197"},"institutions":[{"id":"https://openalex.org/I4210122302","display_name":"ShangHai JiAi Genetics & IVF Institute","ror":"https://ror.org/02rgbry52","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210122302"]},{"id":"https://openalex.org/I4391012619","display_name":"Shanghai Artificial Intelligence Laboratory","ror":"https://ror.org/03wkvpx79","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391012619"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongbin Zhou","raw_affiliation_strings":["Shanghai AI Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai AI Laboratory","institution_ids":["https://openalex.org/I4210122302","https://openalex.org/I4391012619"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101482631","display_name":"Xinyu Cai","orcid":"https://orcid.org/0000-0002-9405-9163"},"institutions":[{"id":"https://openalex.org/I4210122302","display_name":"ShangHai JiAi Genetics & IVF Institute","ror":"https://ror.org/02rgbry52","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210122302"]},{"id":"https://openalex.org/I4391012619","display_name":"Shanghai Artificial Intelligence Laboratory","ror":"https://ror.org/03wkvpx79","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391012619"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyu Cai","raw_affiliation_strings":["Shanghai AI Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai AI Laboratory","institution_ids":["https://openalex.org/I4210122302","https://openalex.org/I4391012619"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101138291","display_name":"Xuemeng Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210122302","display_name":"ShangHai JiAi Genetics & IVF Institute","ror":"https://ror.org/02rgbry52","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210122302"]},{"id":"https://openalex.org/I4391012619","display_name":"Shanghai Artificial Intelligence Laboratory","ror":"https://ror.org/03wkvpx79","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391012619"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuemeng Yang","raw_affiliation_strings":["Shanghai AI Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai AI Laboratory","institution_ids":["https://openalex.org/I4210122302","https://openalex.org/I4391012619"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100610028","display_name":"Yikang Li","orcid":"https://orcid.org/0000-0003-1074-2975"},"institutions":[{"id":"https://openalex.org/I4210122302","display_name":"ShangHai JiAi Genetics & IVF Institute","ror":"https://ror.org/02rgbry52","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210122302"]},{"id":"https://openalex.org/I4391012619","display_name":"Shanghai Artificial Intelligence Laboratory","ror":"https://ror.org/03wkvpx79","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391012619"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yikang Li","raw_affiliation_strings":["Shanghai AI Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai AI Laboratory","institution_ids":["https://openalex.org/I4210122302","https://openalex.org/I4391012619"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058342038","display_name":"Botian Shi","orcid":"https://orcid.org/0000-0003-3677-7252"},"institutions":[{"id":"https://openalex.org/I4210122302","display_name":"ShangHai JiAi Genetics & IVF Institute","ror":"https://ror.org/02rgbry52","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210122302"]},{"id":"https://openalex.org/I4391012619","display_name":"Shanghai Artificial Intelligence Laboratory","ror":"https://ror.org/03wkvpx79","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391012619"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Botian Shi","raw_affiliation_strings":["Shanghai AI Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai AI Laboratory","institution_ids":["https://openalex.org/I4210122302","https://openalex.org/I4391012619"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100732453","display_name":"Hongsheng Li","orcid":"https://orcid.org/0000-0002-9929-4023"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Hongsheng Li","raw_affiliation_strings":["The Chinese University of Hong Kong,Multimedia Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Multimedia Laboratory","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.14006963,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1992","last_page":"1998"},"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/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"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9922999739646912,"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/lidar","display_name":"Lidar","score":0.7831858396530151},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6697026491165161},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.6429311037063599},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.625969648361206},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.5971750617027283},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5394876599311829},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.49993419647216797},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.47170519828796387},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.464542418718338},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3258638381958008},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2555443048477173},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.16965535283088684},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.09612303972244263},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.05865895748138428},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.05195936560630798}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7831858396530151},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6697026491165161},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.6429311037063599},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.625969648361206},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.5971750617027283},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5394876599311829},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.49993419647216797},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.47170519828796387},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.464542418718338},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3258638381958008},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2555443048477173},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.16965535283088684},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.09612303972244263},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.05865895748138428},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.05195936560630798},{"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/icra57147.2024.10610427","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10610427","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6399999856948853,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321885","display_name":"Science and Technology Commission of Shanghai Municipality","ror":"https://ror.org/03kt66j61"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W2081231598","https://openalex.org/W2093488518","https://openalex.org/W2105934661","https://openalex.org/W2115579991","https://openalex.org/W2611946301","https://openalex.org/W2897529137","https://openalex.org/W2949708697","https://openalex.org/W2963121255","https://openalex.org/W2963351448","https://openalex.org/W2963727135","https://openalex.org/W2968296999","https://openalex.org/W2991216808","https://openalex.org/W3034314779","https://openalex.org/W3035172746","https://openalex.org/W3035346742","https://openalex.org/W3035574168","https://openalex.org/W3107212734","https://openalex.org/W3121931845","https://openalex.org/W3132607695","https://openalex.org/W3160206926","https://openalex.org/W3167095230","https://openalex.org/W3168659596","https://openalex.org/W3171377125","https://openalex.org/W3176888779","https://openalex.org/W3177276051","https://openalex.org/W3205005447","https://openalex.org/W4214624153","https://openalex.org/W4214777292","https://openalex.org/W4246193833","https://openalex.org/W4287814239","https://openalex.org/W4312501532","https://openalex.org/W4312707458","https://openalex.org/W4313024968","https://openalex.org/W4390872451","https://openalex.org/W6739778489","https://openalex.org/W6755742144","https://openalex.org/W6763422710","https://openalex.org/W6769571200","https://openalex.org/W6776047415","https://openalex.org/W6804018845","https://openalex.org/W6804183503"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4281783339","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W1964041166","https://openalex.org/W4293094720","https://openalex.org/W2739701376"],"abstract_inverted_index":{"Combining":[0],"motion":[1],"prediction":[2],"in":[3],"LiDAR-based":[4],"3D":[5],"object":[6,53,59],"detection":[7,60],"is":[8,121],"an":[9],"effective":[10],"method":[11],"for":[12],"improving":[13],"overall":[14],"accuracy,":[15],"especially":[16],"the":[17,74,89,95,110],"downstream":[18],"autonomous":[19],"driving":[20],"tasks.":[21],"The":[22,98],"recent":[23],"development":[24],"of":[25,69,113],"low-cost":[26],"LiDARs":[27],"(e.g.":[28],"Livox":[29,70],"LiDAR)":[30],"enables":[31],"us":[32],"to":[33,56,87],"explore":[34],"such":[35],"4D":[36,52],"perception":[37],"systems":[38],"with":[39,64,115],"a":[40,51,65,84,103],"lower":[41],"budget":[42],"and":[43,61,78,127],"higher":[44],"performance.":[45],"In":[46],"this":[47],"paper,":[48],"we":[49,82],"propose":[50,83],"detector,":[54],"VeloVox,":[55],"establish":[57],"accurate":[58,105],"velocity":[62],"estimation":[63],"single-frame":[66],"point":[67,91],"cloud":[68],"LiDAR.":[71],"Based":[72],"on":[73,123],"non-repetitive":[75],"scanning":[76],"pattern":[77],"point-level":[79],"temporal":[80],"nature,":[81],"two-stage":[85],"module":[86],"enhance":[88],"spatial-temporal":[90],"feature":[92,100],"interaction":[93],"along":[94],"time":[96],"dimension.":[97],"aggregated":[99],"also":[101],"benefits":[102],"more":[104],"proposal":[106],"refinement.":[107],"To":[108],"demonstrate":[109],"performance,":[111],"comparison":[112],"VeloVox":[114],"several":[116],"SOTA":[117],"detector":[118],"based":[119],"baselines":[120],"evaluated":[122],"our":[124],"in-house":[125],"dataset":[126,129],"synthesized":[128],"built":[130],"under":[131],"Carla":[132],"simulation.":[133],"Code":[134],"will":[135],"be":[136],"released":[137],"at":[138],"https://github.com/PJLab-ADG/VeloVox.":[139]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
