{"id":"https://openalex.org/W4401416228","doi":"https://doi.org/10.1109/icra57147.2024.10610699","title":"Towards Visibility Estimation and Noise-Distribution-Based Defogging for LiDAR in Autonomous Driving","display_name":"Towards Visibility Estimation and Noise-Distribution-Based Defogging for LiDAR in Autonomous Driving","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416228","doi":"https://doi.org/10.1109/icra57147.2024.10610699"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610699","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10610699","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/A5100539258","display_name":"Zhan Jie","orcid":null},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Zhan","raw_affiliation_strings":["Huazhong University of Science and Technology,School of Artificial Intelligence and Automation,Wuhan,China,430074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,School of Artificial Intelligence and Automation,Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029925325","display_name":"Yucong Duan","orcid":"https://orcid.org/0000-0001-8417-892X"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yucong Duan","raw_affiliation_strings":["Huazhong University of Science and Technology,School of Artificial Intelligence and Automation,Wuhan,China,430074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,School of Artificial Intelligence and Automation,Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056091813","display_name":"Junfeng Ding","orcid":"https://orcid.org/0000-0001-7328-9923"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junfeng Ding","raw_affiliation_strings":["Huazhong University of Science and Technology,School of Artificial Intelligence and Automation,Wuhan,China,430074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,School of Artificial Intelligence and Automation,Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065189267","display_name":"Xuzhong Hu","orcid":"https://orcid.org/0009-0001-9572-1083"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuzhong Hu","raw_affiliation_strings":["Huazhong University of Science and Technology,School of Artificial Intelligence and Automation,Wuhan,China,430074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,School of Artificial Intelligence and Automation,Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101824224","display_name":"Xiao Huang","orcid":"https://orcid.org/0009-0007-5650-3781"},"institutions":[{"id":"https://openalex.org/I4210129465","display_name":"Wuhan Ship Development & Design Institute","ror":"https://ror.org/02mcdae06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210129465"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Huang","raw_affiliation_strings":["China Ship Development and Design Center,Wuhan,China,430064"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China Ship Development and Design Center,Wuhan,China,430064","institution_ids":["https://openalex.org/I4210129465"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101807673","display_name":"Jie Ma","orcid":"https://orcid.org/0000-0003-1996-5163"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Ma","raw_affiliation_strings":["Huazhong University of Science and Technology,School of Artificial Intelligence and Automation,Wuhan,China,430074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,School of Artificial Intelligence and Automation,Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"18443","last_page":"18449"},"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10331","display_name":"Video Surveillance and Tracking Methods","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"}}],"keywords":[{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.915986180305481},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7531181573867798},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.6664783358573914},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6309722661972046},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.5171005725860596},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.49105286598205566},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.4902787506580353},{"id":"https://openalex.org/keywords/distribution","display_name":"Distribution (mathematics)","score":0.4419291317462921},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40400102734565735},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.19301649928092957},{"id":"https://openalex.org/keywords/meteorology","display_name":"Meteorology","score":0.1296248435974121},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12511879205703735},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.10854968428611755},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07001924514770508}],"concepts":[{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.915986180305481},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7531181573867798},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.6664783358573914},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6309722661972046},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.5171005725860596},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49105286598205566},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4902787506580353},{"id":"https://openalex.org/C110121322","wikidata":"https://www.wikidata.org/wiki/Q865811","display_name":"Distribution (mathematics)","level":2,"score":0.4419291317462921},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40400102734565735},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.19301649928092957},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.1296248435974121},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12511879205703735},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.10854968428611755},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07001924514770508},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610699","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10610699","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":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1992345060","https://openalex.org/W2032185885","https://openalex.org/W2085261163","https://openalex.org/W2094658656","https://openalex.org/W2150066425","https://openalex.org/W2316657201","https://openalex.org/W2336983335","https://openalex.org/W2791426782","https://openalex.org/W2897529137","https://openalex.org/W2897876743","https://openalex.org/W2904648219","https://openalex.org/W2905253977","https://openalex.org/W2955189650","https://openalex.org/W2958598946","https://openalex.org/W3005974859","https://openalex.org/W3034543232","https://openalex.org/W3036493597","https://openalex.org/W3082942970","https://openalex.org/W3098452673","https://openalex.org/W3118341329","https://openalex.org/W3120363534","https://openalex.org/W3120926185","https://openalex.org/W3132748473","https://openalex.org/W3152040253","https://openalex.org/W3166997907","https://openalex.org/W3178072496","https://openalex.org/W3187263517","https://openalex.org/W3194454138","https://openalex.org/W4220824123","https://openalex.org/W4281611374","https://openalex.org/W4285102500","https://openalex.org/W4286975194","https://openalex.org/W4311437690","https://openalex.org/W4312586511","https://openalex.org/W4313162344","https://openalex.org/W4378508529","https://openalex.org/W4383109210","https://openalex.org/W6797917870","https://openalex.org/W6801319538"],"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/W4390887692","https://openalex.org/W2362400270"],"abstract_inverted_index":{"Point":[0],"clouds":[1,96],"play":[2],"a":[3,52,107],"crucial":[4],"role":[5],"in":[6,137],"robots":[7],"and":[8,144,165],"intelligent":[9],"vehicles.":[10],"Noise":[11],"caused":[12,97],"by":[13,71,98],"fog":[14,37,67,164],"droplets":[15],"seriously":[16],"degrades":[17],"the":[18,28,63,66,79,85,90,112,125,138,141,145,161,168],"quality":[19],"of":[20,30,46,65,94,115,124,140,147,163,170],"point":[21,57,95,130],"clouds.":[22,58],"Previous":[23],"researches":[24],"have":[25],"shown":[26],"that":[27,155],"extent":[29],"degradation":[31],"is":[32,40,122],"correlated":[33],"with":[34,42,89],"visibility.":[35,43],"The":[36,101],"attenuation":[38,68,142],"coefficient":[39,143],"associated":[41],"In":[44],"light":[45],"this":[47,49],"background,":[48],"paper":[50,121],"proposes":[51],"noise-distribution-based":[53],"defogging":[54],"method":[55,77,157],"for":[56,151],"Our":[59],"approach":[60],"hinges":[61],"on":[62,111,129],"estimation":[64,139],"coefficient,":[69],"facilitated":[70],"road-based":[72],"prior":[73],"knowledge.":[74],"Subsequently,":[75],"our":[76,156],"integrates":[78],"fog-induced":[80,148],"noise":[81,116,149],"distribution":[82,93,150],"inferred":[83],"from":[84],"LiDAR":[86,99],"imaging":[87],"model":[88],"spatially":[91],"non-uniform":[92],"structure.":[100],"fused":[102],"results":[103],"are":[104],"input":[105],"to":[106,117],"statistical":[108],"filter":[109],"based":[110],"relative":[113],"sparsity":[114],"achieve":[118],"defogging.":[119,132,152],"This":[120],"one":[123],"early":[126],"works":[127],"focusing":[128],"cloud":[131],"Its":[133],"core":[134],"insight":[135],"lies":[136],"employment":[146],"Experiments":[153],"demonstrate":[154],"can":[158],"accurately":[159],"mitigate":[160],"impact":[162],"meanwhile":[166],"enhance":[167],"performance":[169],"3D":[171],"object":[172],"detection":[173],"network.":[174]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}