{"id":"https://openalex.org/W4416251683","doi":"https://doi.org/10.1109/ijcnn64981.2025.11227937","title":"MPFormer: Multi-Prior Transformer for Vision-based Scene Understanding in Autonomous Driving","display_name":"MPFormer: Multi-Prior Transformer for Vision-based Scene Understanding in Autonomous Driving","publication_year":2025,"publication_date":"2025-06-30","ids":{"openalex":"https://openalex.org/W4416251683","doi":"https://doi.org/10.1109/ijcnn64981.2025.11227937"},"language":null,"primary_location":{"id":"doi:10.1109/ijcnn64981.2025.11227937","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn64981.2025.11227937","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Joint Conference on Neural Networks (IJCNN)","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/A5113399492","display_name":"Biao Xu","orcid":"https://orcid.org/0009-0002-7656-4382"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Biao Xu","raw_affiliation_strings":["Northeastern University,College of Information Science and Engineering,Shenyang,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,College of Information Science and Engineering,Shenyang,China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007849413","display_name":"Zuotao Ning","orcid":null},"institutions":[{"id":"https://openalex.org/I4210134419","display_name":"Neusoft (China)","ror":"https://ror.org/02zc84r97","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210134419"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zuotao Ning","raw_affiliation_strings":["Neusoft Reach Automotive Technology (Shenyang) Co., Ltd.,ADS Competency Center,Shenyang,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Neusoft Reach Automotive Technology (Shenyang) Co., Ltd.,ADS Competency Center,Shenyang,China","institution_ids":["https://openalex.org/I4210134419"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Shuai Cheng","orcid":null},"institutions":[{"id":"https://openalex.org/I4210134419","display_name":"Neusoft (China)","ror":"https://ror.org/02zc84r97","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210134419"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuai Cheng","raw_affiliation_strings":["Neusoft Reach Automotive Technology (Shenyang) Co., Ltd.,ADS Competency Center,Shenyang,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Neusoft Reach Automotive Technology (Shenyang) Co., Ltd.,ADS Competency Center,Shenyang,China","institution_ids":["https://openalex.org/I4210134419"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115593875","display_name":"Yin Zhang","orcid":"https://orcid.org/0009-0001-8649-1642"},"institutions":[{"id":"https://openalex.org/I4210134419","display_name":"Neusoft (China)","ror":"https://ror.org/02zc84r97","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210134419"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yin Zhang","raw_affiliation_strings":["Neusoft Reach Automotive Technology (Shenyang) Co., Ltd.,ADS Competency Center,Shenyang,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Neusoft Reach Automotive Technology (Shenyang) Co., Ltd.,ADS Competency Center,Shenyang,China","institution_ids":["https://openalex.org/I4210134419"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072381801","display_name":"Jiwei Nie","orcid":"https://orcid.org/0000-0003-3639-4729"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiwei Nie","raw_affiliation_strings":["Northeastern University,College of Information Science and Engineering,Shenyang,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,College of Information Science and Engineering,Shenyang,China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015204136","display_name":"Guixing Xu","orcid":"https://orcid.org/0009-0003-3273-1844"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guixing Xu","raw_affiliation_strings":["Northeastern University,College of Information Science and Engineering,Shenyang,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,College of Information Science and Engineering,Shenyang,China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053869162","display_name":"Hualin Chen","orcid":"https://orcid.org/0000-0001-8984-3159"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hualin Chen","raw_affiliation_strings":["Northeastern University,College of Information Science and Engineering,Shenyang,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,College of Information Science and Engineering,Shenyang,China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100745747","display_name":"Wei Liu","orcid":"https://orcid.org/0000-0002-9104-6316"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Liu","raw_affiliation_strings":["Northeastern University,College of Information Science and Engineering,Shenyang,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,College of Information Science and Engineering,Shenyang,China","institution_ids":["https://openalex.org/I9224756"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"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":0.30387308,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11605","display_name":"Visual Attention and Saliency Detection","score":0.33149999380111694,"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/T11605","display_name":"Visual Attention and Saliency Detection","score":0.33149999380111694,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.3037000000476837,"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":0.08940000087022781,"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/transformer","display_name":"Transformer","score":0.6017000079154968},{"id":"https://openalex.org/keywords/voxel","display_name":"Voxel","score":0.5392000079154968},{"id":"https://openalex.org/keywords/prior-probability","display_name":"Prior probability","score":0.5220999717712402},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.44339999556541443},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.3928999900817871},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.3662000000476837},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.32910001277923584},{"id":"https://openalex.org/keywords/aggregate","display_name":"Aggregate (composite)","score":0.3116999864578247}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7386999726295471},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6434999704360962},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.6017000079154968},{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.5392000079154968},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.5220999717712402},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5163999795913696},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.44339999556541443},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.3928999900817871},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3662000000476837},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.32910001277923584},{"id":"https://openalex.org/C4679612","wikidata":"https://www.wikidata.org/wiki/Q866298","display_name":"Aggregate (composite)","level":2,"score":0.3116999864578247},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.3109999895095825},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.3093999922275543},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2969000041484833},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.28790000081062317},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.28679999709129333},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.2858000099658966},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2718000113964081},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.2605000138282776},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.258899986743927}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ijcnn64981.2025.11227937","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn64981.2025.11227937","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Joint Conference on Neural Networks (IJCNN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W2150066425","https://openalex.org/W2307770531","https://openalex.org/W2991216808","https://openalex.org/W3035308182","https://openalex.org/W3109395584","https://openalex.org/W3126856052","https://openalex.org/W3215100485","https://openalex.org/W3215584334","https://openalex.org/W4312894406","https://openalex.org/W4386066358","https://openalex.org/W4386083035","https://openalex.org/W4390874310"],"related_works":[],"abstract_inverted_index":{"Vision-based":[0],"3D":[1,12,50],"semantic":[2,13,53],"occupancy":[3],"is":[4],"a":[5,82,95,142],"crucial":[6],"task":[7],"in":[8,54,102,136,145],"autonomous":[9,103],"driving":[10],"perception.":[11],"occupancy,":[14],"compared":[15],"with":[16,127],"Bird\u2019s":[17],"Eye":[18],"View(BEV)":[19],"approaches,":[20],"enhances":[21,34],"supplements":[22],"the":[23,35,49,139,148,152,155],"limitations":[24],"of":[25,109,114,124,154],"BEV":[26],"by":[27],"incorporating":[28],"essential":[29],"height":[30],"information,":[31],"which":[32],"significantly":[33],"capacity":[36],"for":[37,98],"comprehensive":[38],"scene":[39,100,132],"analysis":[40],"and":[41,52,74,119,122],"understanding":[42,101,133],"via":[43],"leveraging":[44],"2D":[45],"images":[46],"to":[47,66,92,130,138],"predict":[48],"geometry":[51],"various":[55],"scenes.":[56],"However,":[57],"most":[58],"existing":[59],"approaches":[60],"rely":[61],"heavily":[62],"on":[63,87,147],"complex":[64,88],"models":[65],"aggregate":[67],"voxel":[68,120],"features,":[69,111],"while":[70],"overlooking":[71],"important":[72],"contextual":[73],"prior":[75,89],"information.":[76],"In":[77],"this":[78],"study,":[79],"we":[80,106],"propose":[81],"novel":[83],"network":[84],"architecture":[85],"based":[86],"queries,":[90,116,121],"referred":[91],"as":[93],"MPFormer,":[94,135],"multi-prior":[96],"transformer":[97],"vision-based":[99],"driving.":[104],"Concretely,":[105],"introduce":[107],"densification":[108],"sparse":[110],"query":[112],"fusion":[113],"random":[115],"instance":[117],"queries":[118],"integration":[123],"self-attention":[125],"mechanisms":[126],"geometric":[128],"priors":[129],"optimize":[131],"comprehensively.":[134],"comparison":[137],"baseline,":[140],"demonstrates":[141],"7%":[143],"improvement":[144],"mIoU":[146],"SemanticKITTI":[149],"dataset,":[150],"validating":[151],"effectiveness":[153],"proposed":[156],"method.":[157]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-14T00:00:00"}