{"id":"https://openalex.org/W4385484681","doi":"https://doi.org/10.1109/ijcnn54540.2023.10191728","title":"Boundary-Aware Set Abstraction for 3D Object Detection","display_name":"Boundary-Aware Set Abstraction for 3D Object Detection","publication_year":2023,"publication_date":"2023-06-18","ids":{"openalex":"https://openalex.org/W4385484681","doi":"https://doi.org/10.1109/ijcnn54540.2023.10191728"},"language":"en","primary_location":{"id":"doi:10.1109/ijcnn54540.2023.10191728","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn54540.2023.10191728","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Joint Conference on Neural Networks (IJCNN)","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/A5101465746","display_name":"Zhe Huang","orcid":"https://orcid.org/0000-0003-3794-9749"},"institutions":[{"id":"https://openalex.org/I78988378","display_name":"Renmin University of China","ror":"https://ror.org/041pakw92","country_code":"CN","type":"education","lineage":["https://openalex.org/I78988378"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhe Huang","raw_affiliation_strings":["School of Information, Renmin University of China,Beijing,China","School of Information, Renmin University of China, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information, Renmin University of China,Beijing,China","institution_ids":["https://openalex.org/I78988378"]},{"raw_affiliation_string":"School of Information, Renmin University of China, Beijing, China","institution_ids":["https://openalex.org/I78988378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053362548","display_name":"Yongcai Wang","orcid":"https://orcid.org/0000-0002-4197-2258"},"institutions":[{"id":"https://openalex.org/I78988378","display_name":"Renmin University of China","ror":"https://ror.org/041pakw92","country_code":"CN","type":"education","lineage":["https://openalex.org/I78988378"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongcai Wang","raw_affiliation_strings":["School of Information, Renmin University of China,Beijing,China","School of Information, Renmin University of China, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information, Renmin University of China,Beijing,China","institution_ids":["https://openalex.org/I78988378"]},{"raw_affiliation_string":"School of Information, Renmin University of China, Beijing, China","institution_ids":["https://openalex.org/I78988378"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xingui Tang","orcid":null},"institutions":[{"id":"https://openalex.org/I78988378","display_name":"Renmin University of China","ror":"https://ror.org/041pakw92","country_code":"CN","type":"education","lineage":["https://openalex.org/I78988378"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingui Tang","raw_affiliation_strings":["School of Information, Renmin University of China,Beijing,China","School of Information, Renmin University of China, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information, Renmin University of China,Beijing,China","institution_ids":["https://openalex.org/I78988378"]},{"raw_affiliation_string":"School of Information, Renmin University of China, Beijing, China","institution_ids":["https://openalex.org/I78988378"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101500315","display_name":"Hongyu Sun","orcid":"https://orcid.org/0009-0002-4118-4777"},"institutions":[{"id":"https://openalex.org/I78988378","display_name":"Renmin University of China","ror":"https://ror.org/041pakw92","country_code":"CN","type":"education","lineage":["https://openalex.org/I78988378"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongyu Sun","raw_affiliation_strings":["School of Information, Renmin University of China,Beijing,China","School of Information, Renmin University of China, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information, Renmin University of China,Beijing,China","institution_ids":["https://openalex.org/I78988378"]},{"raw_affiliation_string":"School of Information, Renmin University of China, Beijing, China","institution_ids":["https://openalex.org/I78988378"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I78988378"],"apc_list":null,"apc_paid":null,"fwci":0.7232,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.79210012,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"01","last_page":"07"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9991000294685364,"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9932000041007996,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/abstraction","display_name":"Abstraction","score":0.7225753664970398},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.7150568962097168},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.714346706867218},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6179848313331604},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6139332056045532},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5955986976623535},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5834261178970337},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5248168706893921},{"id":"https://openalex.org/keywords/layer","display_name":"Layer (electronics)","score":0.49948549270629883},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.48096004128456116},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.4798107445240021},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.46729639172554016},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4482800364494324},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.44758832454681396},{"id":"https://openalex.org/keywords/chain-code","display_name":"Chain code","score":0.42245692014694214},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3560831546783447},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.2475109100341797},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.226983904838562},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.17914754152297974},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.07869115471839905}],"concepts":[{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.7225753664970398},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.7150568962097168},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.714346706867218},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6179848313331604},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6139332056045532},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5955986976623535},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5834261178970337},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5248168706893921},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.49948549270629883},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.48096004128456116},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.4798107445240021},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.46729639172554016},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4482800364494324},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44758832454681396},{"id":"https://openalex.org/C93058836","wikidata":"https://www.wikidata.org/wiki/Q1453572","display_name":"Chain code","level":3,"score":0.42245692014694214},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3560831546783447},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2475109100341797},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.226983904838562},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.17914754152297974},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.07869115471839905},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ijcnn54540.2023.10191728","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn54540.2023.10191728","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Joint Conference on Neural Networks (IJCNN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5954989685","display_name":"\u57fa\u4e8e\u6a21\u5757\u62fc\u63a5\u7684\u7fa4\u667aSLAM\u5173\u952e\u95ee\u9898\u7814\u7a76","funder_award_id":"61972404","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W2150066425","https://openalex.org/W2266390837","https://openalex.org/W2555618208","https://openalex.org/W2560609797","https://openalex.org/W2897529137","https://openalex.org/W2949708697","https://openalex.org/W2951517617","https://openalex.org/W2963400571","https://openalex.org/W2963721253","https://openalex.org/W2963727135","https://openalex.org/W2968296999","https://openalex.org/W2970858672","https://openalex.org/W2979912832","https://openalex.org/W2995888011","https://openalex.org/W2998254148","https://openalex.org/W3004237909","https://openalex.org/W3034314779","https://openalex.org/W3034494113","https://openalex.org/W3034602892","https://openalex.org/W3034664537","https://openalex.org/W3035346742","https://openalex.org/W3035461736","https://openalex.org/W3106753828","https://openalex.org/W3109340983","https://openalex.org/W3113028524","https://openalex.org/W3117804044","https://openalex.org/W3165403781","https://openalex.org/W3174926460","https://openalex.org/W3177276051","https://openalex.org/W4226098442","https://openalex.org/W6763422710","https://openalex.org/W6770545040"],"related_works":["https://openalex.org/W77339100","https://openalex.org/W2023786122","https://openalex.org/W3195091302","https://openalex.org/W1827957627","https://openalex.org/W2377187841","https://openalex.org/W2377931032","https://openalex.org/W2380022726","https://openalex.org/W4312364410","https://openalex.org/W2393808517","https://openalex.org/W2104754148"],"abstract_inverted_index":{"The":[0],"basic":[1],"components":[2],"of":[3,56,170],"a":[4,81,105,121],"point-based":[5],"3D":[6,75],"object":[7,76,132],"detector":[8],"is":[9,117,134,152,189],"set":[10],"abstraction":[11],"(SA)":[12],"layer,":[13,70],"which":[14,71],"down-samples":[15],"points":[16,34,49,66,100,129],"for":[17],"better":[18],"efficiency":[19],"and":[20,84,98,145,182],"enlarges":[21],"receptive":[22],"fields.":[23],"However,":[24],"existing":[25],"SA":[26,60,86],"layer":[27,87,92],"only":[28],"takes":[29],"the":[30,48,51,58,68,74,113,128,131,146,166,171,177],"relative":[31],"locations":[32],"among":[33],"into":[35],"consideration,":[36],"e.g.":[37],"using":[38],"furthest":[39],"point":[40,45,107],"sampling":[41],"(FPS),":[42],"while":[43],"ignoring":[44],"features.":[46],"Because":[47],"on":[50,130,176],"objects":[52],"take":[53],"small":[54],"proportion":[55],"space,":[57],"cascaded":[59,102],"may":[61],"miss":[62],"to":[63,94,111,126,141],"contain":[64],"objects'":[65],"in":[67,154,184],"last":[69],"will":[72],"degrade":[73],"detection":[77],"performances.":[78],"We":[79],"design":[80],"new":[82],"lightweight":[83,106],"effective":[85],"named":[88],"Boundary-Aware":[89],"Set":[90],"Abstraction":[91],"(BA-Net)":[93],"retain":[95],"important":[96],"foreground":[97,115],"boundary":[99],"during":[101],"down-sampling.":[103],"Technically,":[104],"segmentation":[108],"model":[109],"(PSM)":[110],"compute":[112],"point-wise":[114],"scores":[116,138],"firstly":[118],"embedded,":[119],"then":[120],"Boundary":[122],"Prediction":[123],"Model":[124],"(BPM)":[125],"detect":[127],"boundaries":[133],"proposed.":[135],"These":[136],"semantic":[137],"are":[139],"used":[140],"weight":[142],"inter-node":[143],"distances":[144],"Boundary-aware":[147],"Furthest":[148],"Point":[149],"down-Sampling":[150],"(B-FPS)":[151],"conducted":[153],"this":[155],"twisted":[156],"distance":[157],"space.":[158],"Experimental":[159],"results":[160],"show":[161],"that":[162],"BA-Net":[163],"can":[164],"enhance":[165],"average":[167],"accuracy":[168],"(mAP)":[169],"most":[172],"competitive":[173],"car":[174],"class":[175],"KITTI":[178],"dataset":[179],"by":[180],"1.14%":[181],"1.06%":[183],"two":[185],"different":[186],"baseline.":[187],"Code":[188],"available":[190],"at":[191],"https://github.com/HuangZhe885/Boundary-Aware-SA.":[192]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2026-08-06T08:24:18.245995","created_date":"2025-10-10T00:00:00"}
