{"id":"https://openalex.org/W4401413889","doi":"https://doi.org/10.1109/icra57147.2024.10610444","title":"Better Monocular 3D Detectors with LiDAR from the Past","display_name":"Better Monocular 3D Detectors with LiDAR from the Past","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401413889","doi":"https://doi.org/10.1109/icra57147.2024.10610444"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610444","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610444","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":"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/A5069174793","display_name":"Yurong You","orcid":"https://orcid.org/0000-0002-6898-9463"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]},{"id":"https://openalex.org/I4210156583","display_name":"Laboratoire d'Informatique de Paris-Nord","ror":"https://ror.org/05g1zjw44","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210091279","https://openalex.org/I4210156583","https://openalex.org/I4210159245"]}],"countries":["FR","US"],"is_corresponding":true,"raw_author_name":"Yurong You","raw_affiliation_strings":["Cornell University,Computer Science Department"],"affiliations":[{"raw_affiliation_string":"Cornell University,Computer Science Department","institution_ids":["https://openalex.org/I4210156583","https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016682510","display_name":"Cheng Perng Phoo","orcid":null},"institutions":[{"id":"https://openalex.org/I4210156583","display_name":"Laboratoire d'Informatique de Paris-Nord","ror":"https://ror.org/05g1zjw44","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210091279","https://openalex.org/I4210156583","https://openalex.org/I4210159245"]},{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["FR","US"],"is_corresponding":false,"raw_author_name":"Cheng Perng Phoo","raw_affiliation_strings":["Cornell University,Computer Science Department"],"affiliations":[{"raw_affiliation_string":"Cornell University,Computer Science Department","institution_ids":["https://openalex.org/I4210156583","https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038751104","display_name":"Carlos Andres Diaz-Ruiz","orcid":"https://orcid.org/0009-0007-8111-7815"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Carlos Andres Diaz-Ruiz","raw_affiliation_strings":["Cornell University,Mechanical and Aerospace Engineering Department"],"affiliations":[{"raw_affiliation_string":"Cornell University,Mechanical and Aerospace Engineering Department","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002592908","display_name":"Katie Z Luo","orcid":null},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]},{"id":"https://openalex.org/I4210156583","display_name":"Laboratoire d'Informatique de Paris-Nord","ror":"https://ror.org/05g1zjw44","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210091279","https://openalex.org/I4210156583","https://openalex.org/I4210159245"]}],"countries":["FR","US"],"is_corresponding":false,"raw_author_name":"Katie Z Luo","raw_affiliation_strings":["Cornell University,Computer Science Department"],"affiliations":[{"raw_affiliation_string":"Cornell University,Computer Science Department","institution_ids":["https://openalex.org/I4210156583","https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018066903","display_name":"Weilun Chao","orcid":"https://orcid.org/0000-0002-9752-370X"},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wei-Lun Chao","raw_affiliation_strings":["Ohio State University,Department of Computer Science and Engineering"],"affiliations":[{"raw_affiliation_string":"Ohio State University,Department of Computer Science and Engineering","institution_ids":["https://openalex.org/I52357470"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087789612","display_name":"Mark Campbell","orcid":null},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Campbell","raw_affiliation_strings":["Cornell University,Mechanical and Aerospace Engineering Department"],"affiliations":[{"raw_affiliation_string":"Cornell University,Mechanical and Aerospace Engineering Department","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101647390","display_name":"Bharath Hariharan","orcid":"https://orcid.org/0000-0002-2309-4703"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]},{"id":"https://openalex.org/I4210156583","display_name":"Laboratoire d'Informatique de Paris-Nord","ror":"https://ror.org/05g1zjw44","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210091279","https://openalex.org/I4210156583","https://openalex.org/I4210159245"]}],"countries":["FR","US"],"is_corresponding":false,"raw_author_name":"Bharath Hariharan","raw_affiliation_strings":["Cornell University,Computer Science Department"],"affiliations":[{"raw_affiliation_string":"Cornell University,Computer Science Department","institution_ids":["https://openalex.org/I4210156583","https://openalex.org/I205783295"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006380227","display_name":"Kilian Q. Weinberger","orcid":null},"institutions":[{"id":"https://openalex.org/I4210156583","display_name":"Laboratoire d'Informatique de Paris-Nord","ror":"https://ror.org/05g1zjw44","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210091279","https://openalex.org/I4210156583","https://openalex.org/I4210159245"]},{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["FR","US"],"is_corresponding":false,"raw_author_name":"Kilian Q Weinberger","raw_affiliation_strings":["Cornell University,Computer Science Department"],"affiliations":[{"raw_affiliation_string":"Cornell University,Computer Science Department","institution_ids":["https://openalex.org/I4210156583","https://openalex.org/I205783295"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5069174793"],"corresponding_institution_ids":["https://openalex.org/I205783295","https://openalex.org/I4210156583"],"apc_list":null,"apc_paid":null,"fwci":1.6441,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.85074867,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"6634","last_page":"6641"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9987000226974487,"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"}},"topics":[{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9987000226974487,"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"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.996399998664856,"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/T11992","display_name":"CCD and CMOS Imaging Sensors","score":0.9940999746322632,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/lidar","display_name":"Lidar","score":0.8413084745407104},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5902527570724487},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.5665879249572754},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5091158747673035},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.4738926291465759},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3566943407058716},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3371771275997162},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.297052800655365},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.10801467299461365}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8413084745407104},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5902527570724487},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.5665879249572754},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5091158747673035},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4738926291465759},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3566943407058716},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3371771275997162},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.297052800655365},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.10801467299461365}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610444","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610444","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320332708","display_name":"Cornell Center for Materials Research","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W2033819227","https://openalex.org/W2108598243","https://openalex.org/W2194775991","https://openalex.org/W2468368736","https://openalex.org/W2565639579","https://openalex.org/W2601564443","https://openalex.org/W2767669918","https://openalex.org/W2794739174","https://openalex.org/W2949708697","https://openalex.org/W2954174912","https://openalex.org/W2962807143","https://openalex.org/W2963121255","https://openalex.org/W2963170338","https://openalex.org/W2963727135","https://openalex.org/W2968296999","https://openalex.org/W2982770724","https://openalex.org/W2986701260","https://openalex.org/W2999947750","https://openalex.org/W3008526508","https://openalex.org/W3035346742","https://openalex.org/W3035461736","https://openalex.org/W3035574168","https://openalex.org/W3035749845","https://openalex.org/W3097217077","https://openalex.org/W3109395584","https://openalex.org/W3110608229","https://openalex.org/W3138516171","https://openalex.org/W3167095230","https://openalex.org/W3173668541","https://openalex.org/W3215100485","https://openalex.org/W4200200310","https://openalex.org/W4214558638","https://openalex.org/W4225793049","https://openalex.org/W4226305814","https://openalex.org/W4281255813","https://openalex.org/W4304098216","https://openalex.org/W4312253363","https://openalex.org/W4312543476","https://openalex.org/W4312707458","https://openalex.org/W4312894406","https://openalex.org/W4313128851","https://openalex.org/W4361194548","https://openalex.org/W4383066393","https://openalex.org/W4390872833","https://openalex.org/W6739778489","https://openalex.org/W6764514022","https://openalex.org/W6774908330","https://openalex.org/W6784333009","https://openalex.org/W6784403933","https://openalex.org/W6799331316","https://openalex.org/W6800618901","https://openalex.org/W6802311648","https://openalex.org/W6809822403","https://openalex.org/W6811230113","https://openalex.org/W6838844109","https://openalex.org/W6851585705"],"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/W2351984678","https://openalex.org/W2140032575","https://openalex.org/W2011860471","https://openalex.org/W2012196540","https://openalex.org/W3011451421"],"abstract_inverted_index":{"Accurate":[0],"3D":[1,59,129],"object":[2],"detection":[3],"is":[4],"crucial":[5],"to":[6,40,45,56,79,114,139],"autonomous":[7],"driving.":[8],"Though":[9],"LiDAR-based":[10,42],"detectors":[11,30,60,76],"have":[12,77],"achieved":[13],"impressive":[14],"performance,":[15],"the":[16,74,124],"high":[17],"cost":[18],"of":[19,89,123,153],"LiDAR":[20,65,82,98,121],"sensors":[21],"precludes":[22],"their":[23,41],"widespread":[24],"adoption":[25],"in":[26,49],"affordable":[27],"vehicles.":[28],"Camera-based":[29],"are":[31],"cheaper":[32],"alternatives":[33],"but":[34],"often":[35],"suffer":[36],"inferior":[37],"performance":[38,136],"compared":[39],"counterparts":[43],"due":[44],"inherent":[46],"depth":[47],"ambiguities":[48],"images.":[50],"In":[51],"this":[52,101],"work,":[53],"we":[54,71,103],"seek":[55],"improve":[57],"monocular":[58,128],"by":[61],"leveraging":[62],"unlabeled":[63,81],"historical":[64],"data.":[66],"Specifically,":[67],"at":[68,87,166],"inference":[69],"time,":[70],"assume":[72],"that":[73],"camera-based":[75],"access":[78],"multiple":[80,143],"scans":[83],"from":[84,92,119],"past":[85],"traversals":[86,122],"locations":[88],"interest":[90],"(potentially":[91],"other":[93],"high-end":[94],"vehicles":[95],"equipped":[96],"with":[97,148],"sensors).":[99],"Under":[100],"setup,":[102],"proposed":[104],"a":[105,149,157],"novel,":[106],"simple,":[107],"and":[108,134,146,156],"end-to-end":[109],"trainable":[110],"framework,":[111],"termed":[112],"AsyncDepth,":[113],"effectively":[115],"extract":[116],"relevant":[117],"features":[118],"asynchronous":[120],"same":[125],"location":[126],"for":[127],"detectors.":[130],"We":[131],"show":[132],"consistent":[133],"significant":[135],"gain":[137],"(up":[138],"9":[140],"AP)":[141],"across":[142],"state-of-the-art":[144],"models":[145],"datasets":[147],"negligible":[150],"additional":[151],"latency":[152],"9.66":[154],"ms":[155],"small":[158],"storage":[159],"cost.":[160],"Our":[161],"code":[162],"can":[163],"be":[164],"found":[165],"https://github.com/YurongYou/AsyncDepth.":[167]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2025-12-19T19:40:27.379048","created_date":"2025-10-10T00:00:00"}