{"id":"https://openalex.org/W4401416521","doi":"https://doi.org/10.1109/icra57147.2024.10611513","title":"HPL-ViT: A Unified Perception Framework for Heterogeneous Parallel LiDARs in V2V","display_name":"HPL-ViT: A Unified Perception Framework for Heterogeneous Parallel LiDARs in V2V","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416521","doi":"https://doi.org/10.1109/icra57147.2024.10611513"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611513","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611513","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/A5101834848","display_name":"Yuhang Liu","orcid":"https://orcid.org/0009-0004-3078-4173"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yuhang Liu","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Science,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Science,Beijing,China","institution_ids":["https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102909026","display_name":"Boyi Sun","orcid":"https://orcid.org/0009-0009-4692-4034"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Boyi Sun","raw_affiliation_strings":["University of Chinese Academy of Sciences,Department of Computer Science and Technology,Beijing,China"],"affiliations":[{"raw_affiliation_string":"University of Chinese Academy of Sciences,Department of Computer Science and Technology,Beijing,China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100697205","display_name":"Yuke Li","orcid":"https://orcid.org/0000-0001-9836-4600"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuke Li","raw_affiliation_strings":["Waytous Inc.,Qingdao,China"],"affiliations":[{"raw_affiliation_string":"Waytous Inc.,Qingdao,China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101758900","display_name":"Yuzheng Hu","orcid":"https://orcid.org/0000-0003-3427-0650"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuzheng Hu","raw_affiliation_strings":["University of Illinois,Department of Computer Science,Urbana-Champaign,IL,USA"],"affiliations":[{"raw_affiliation_string":"University of Illinois,Department of Computer Science,Urbana-Champaign,IL,USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113600509","display_name":"Fei\u2010Yue Wang","orcid":"https://orcid.org/0000-0001-9185-3989"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fei-Yue Wang","raw_affiliation_strings":["University of Illinois,Department of Computer Science,Urbana-Champaign,IL,USA"],"affiliations":[{"raw_affiliation_string":"University of Illinois,Department of Computer Science,Urbana-Champaign,IL,USA","institution_ids":["https://openalex.org/I157725225"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101834848"],"corresponding_institution_ids":["https://openalex.org/I4210094879"],"apc_list":null,"apc_paid":null,"fwci":4.9323,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.95314764,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"16417","last_page":"16424"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9987999796867371,"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":0.9987999796867371,"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":0.9984999895095825,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9937999844551086,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7423310875892639},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4803715646266937},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.44073486328125},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.082180917263031},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.07713773846626282},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.07115840911865234},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.05267038941383362}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7423310875892639},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4803715646266937},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.44073486328125},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.082180917263031},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.07713773846626282},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.07115840911865234},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.05267038941383362}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611513","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611513","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":[{"display_name":"Reduced inequalities","score":0.46000000834465027,"id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W2361439446","https://openalex.org/W2754582354","https://openalex.org/W2796096089","https://openalex.org/W2897529137","https://openalex.org/W2963120444","https://openalex.org/W2963121255","https://openalex.org/W2963727135","https://openalex.org/W2968296999","https://openalex.org/W2985739927","https://openalex.org/W3034314779","https://openalex.org/W3034681945","https://openalex.org/W3039492319","https://openalex.org/W3109991383","https://openalex.org/W3166470370","https://openalex.org/W3173112500","https://openalex.org/W3201193904","https://openalex.org/W3210076120","https://openalex.org/W3212352499","https://openalex.org/W4225818300","https://openalex.org/W4226436200","https://openalex.org/W4236965008","https://openalex.org/W4284701604","https://openalex.org/W4289886757","https://openalex.org/W4294068563","https://openalex.org/W4304162916","https://openalex.org/W4310872445","https://openalex.org/W4312210192","https://openalex.org/W4312247386","https://openalex.org/W4312571135","https://openalex.org/W4312604822","https://openalex.org/W4312847199","https://openalex.org/W4312939270","https://openalex.org/W4313039600","https://openalex.org/W4320802156","https://openalex.org/W4321609084","https://openalex.org/W4352977781","https://openalex.org/W4360995553","https://openalex.org/W4362654659","https://openalex.org/W4365420629","https://openalex.org/W4382119214","https://openalex.org/W4383097534","https://openalex.org/W4383108477","https://openalex.org/W4383108819","https://openalex.org/W4385195088","https://openalex.org/W4385302112","https://openalex.org/W4386066469","https://openalex.org/W4390872473","https://openalex.org/W4391305737","https://openalex.org/W6739778489","https://openalex.org/W6745935785","https://openalex.org/W6763422710","https://openalex.org/W6802966573","https://openalex.org/W6839180059","https://openalex.org/W6986293388"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","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"],"abstract_inverted_index":{"To":[0],"develop":[1],"the":[2,33,54,72,94,158],"next":[3],"generation":[4],"of":[5,13,36,48,56,74,96],"intelligent":[6],"LiDARs,":[7],"we":[8,105,124],"propose":[9],"a":[10,18,116,127,142,154],"novel":[11,117],"framework":[12],"parallel":[14],"LiDARs":[15],"and":[16,38,99,109,137,175],"construct":[17,115],"hardware":[19],"prototype":[20],"in":[21,41,135,172],"our":[22],"experimental":[23],"platform,":[24],"DAWN":[25],"(Digital":[26],"Artificial":[27],"World":[28],"for":[29,131,149,157],"Natural).":[30],"It":[31,140],"emphasizes":[32],"tight":[34],"integration":[35],"physical":[37],"digital":[39],"space":[40],"LiDAR":[42,75,97,112,119],"systems,":[43],"with":[44,90,153],"networking":[45],"being":[46],"one":[47],"its":[49],"supported":[50],"core":[51],"features.":[52],"In":[53,102],"context":[55],"autonomous":[57],"driving,":[58],"V2V":[59],"(Vehicle-to-Vehicle)":[60],"technology":[61],"enables":[62],"efficient":[63],"information":[64],"sharing":[65],"between":[66],"different":[67],"agents":[68],"which":[69],"significantly":[70],"promotes":[71],"development":[73],"networks.":[76],"However,":[77],"current":[78],"research":[79],"operates":[80],"under":[81],"an":[82],"ideal":[83],"situation":[84],"where":[85],"all":[86,173],"vehicles":[87],"are":[88],"equipped":[89],"identical":[91],"LiDAR,":[92],"ignoring":[93],"diversity":[95],"categories":[98],"operating":[100],"frequencies.":[101],"this":[103],"paper,":[104],"first":[106],"utilize":[107],"OpenCDA":[108],"RLS":[110],"(Realistic":[111],"Simulation)":[113],"to":[114,145],"heterogeneous":[118,136],"dataset":[120],"named":[121],"OPV2V-HPL.":[122],"Additionally,":[123],"present":[125],"HPL-ViT,":[126],"pioneering":[128],"architecture":[129],"designed":[130],"robust":[132],"feature":[133],"fusion":[134],"dynamic":[138],"scenarios.":[139],"uses":[141],"graph-attention":[143],"Transformer":[144],"extract":[146],"domain-specific":[147],"features":[148],"each":[150],"agent,":[151],"coupled":[152],"cross-attention":[155],"mechanism":[156],"final":[159],"fusion.":[160],"Extensive":[161],"experiments":[162],"on":[163],"OPV2V-HPL":[164],"demonstrate":[165],"that":[166],"HPL-ViT":[167],"achieves":[168],"SOTA":[169],"(state-of-the-art)":[170],"performance":[171],"settings":[174],"exhibits":[176],"outstanding":[177],"generalization":[178],"capabilities.":[179]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}
