{"id":"https://openalex.org/W3132328721","doi":"https://doi.org/10.1109/iros45743.2020.9341002","title":"PillarFlowNet: A Real-time Deep Multitask Network for LiDAR-based 3D Object Detection and Scene Flow Estimation","display_name":"PillarFlowNet: A Real-time Deep Multitask Network for LiDAR-based 3D Object Detection and Scene Flow Estimation","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3132328721","doi":"https://doi.org/10.1109/iros45743.2020.9341002","mag":"3132328721"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341002","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341002","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5011657118","display_name":"Fabian Duffhauss","orcid":"https://orcid.org/0000-0002-8910-3852"},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Fabian Duffhauss","raw_affiliation_strings":["Bosch Center for Artificial Intelligence, Renningen, Germany"],"affiliations":[{"raw_affiliation_string":"Bosch Center for Artificial Intelligence, Renningen, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069783058","display_name":"Stefan A. Baur","orcid":"https://orcid.org/0000-0002-0735-8713"},"institutions":[{"id":"https://openalex.org/I1332474105","display_name":"Mercedes-Benz (Germany)","ror":"https://ror.org/055rn2a38","country_code":"DE","type":"company","lineage":["https://openalex.org/I1332474105"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stefan A. Baur","raw_affiliation_strings":["Mercedes-Benz AG, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Mercedes-Benz AG, Stuttgart, Germany","institution_ids":["https://openalex.org/I1332474105"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5011657118"],"corresponding_institution_ids":["https://openalex.org/I889804353"],"apc_list":null,"apc_paid":null,"fwci":0.2931,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.5892317,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"18","issue":null,"first_page":"10734","last_page":"10741"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9994999766349792,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9976999759674072,"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/computer-science","display_name":"Computer science","score":0.8234713077545166},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7508233189582825},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7442628145217896},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7117456197738647},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.6830508708953857},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.5230879783630371},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.46030759811401367},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.41926708817481995},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.24320492148399353},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.10501137375831604},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.10492691397666931}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8234713077545166},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7508233189582825},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7442628145217896},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7117456197738647},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.6830508708953857},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.5230879783630371},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.46030759811401367},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.41926708817481995},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.24320492148399353},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.10501137375831604},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.10492691397666931},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9341002","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341002","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7699999809265137,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1522301498","https://openalex.org/W1536680647","https://openalex.org/W1962921203","https://openalex.org/W2150066425","https://openalex.org/W2194775991","https://openalex.org/W2402144811","https://openalex.org/W2560609797","https://openalex.org/W2562137921","https://openalex.org/W2563098792","https://openalex.org/W2613718673","https://openalex.org/W2737996100","https://openalex.org/W2798297823","https://openalex.org/W2798930779","https://openalex.org/W2889390559","https://openalex.org/W2890538051","https://openalex.org/W2897529137","https://openalex.org/W2898925193","https://openalex.org/W2950673314","https://openalex.org/W2951517617","https://openalex.org/W2953384591","https://openalex.org/W2962771259","https://openalex.org/W2963351448","https://openalex.org/W2963677766","https://openalex.org/W2963727135","https://openalex.org/W2963896595","https://openalex.org/W2963954891","https://openalex.org/W2964121744","https://openalex.org/W2964185501","https://openalex.org/W2968296999","https://openalex.org/W2970495364","https://openalex.org/W2971686478","https://openalex.org/W2991215750","https://openalex.org/W3000681136","https://openalex.org/W3039448353","https://openalex.org/W3114753236","https://openalex.org/W3122159272","https://openalex.org/W6631190155","https://openalex.org/W6713134421","https://openalex.org/W6754005058","https://openalex.org/W6755779118","https://openalex.org/W6763422710","https://openalex.org/W6770404345","https://openalex.org/W6771790678"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W4292830139","https://openalex.org/W4319309705"],"abstract_inverted_index":{"Mobile":[0],"robotic":[1],"platforms":[2],"require":[3],"a":[4,53,85,105,117,128],"precise":[5],"understanding":[6],"about":[7],"other":[8,47],"agents":[9,48],"in":[10,19,26,132,143],"their":[11,16],"surroundings":[12],"as":[13,15,125,127],"well":[14,126],"respective":[17],"motion":[18],"order":[20],"to":[21,34,140,165],"operate":[22],"safely.":[23],"Scene":[24],"flow":[25,64,92,138,150],"combination":[27],"with":[28,97],"object":[29,67,95,146],"detection":[30,68,96,147],"can":[31],"be":[32,166],"used":[33],"achieve":[35],"this":[36,80],"understanding.":[37],"Together,":[38],"they":[39],"provide":[40],"valuable":[41],"cues":[42],"for":[43,56,88,136,168],"behavior":[44,59],"prediction":[45],"of":[46],"and":[49,66,94,100,148],"thus":[50],"ultimately":[51],"are":[52,69],"good":[54],"basis":[55],"the":[57,112,141,163],"ego-vehicle's":[58],"planning":[60],"algorithms.":[61],"Traditionally,":[62],"scene":[63,91,137,149],"estimation":[65,93],"handled":[70],"by":[71],"separate":[72],"deep":[73],"networks":[74],"requiring":[75],"immense":[76],"computational":[77],"resources.":[78],"In":[79,108],"work,":[81],"we":[82],"propose":[83],"PillarFlowNet,":[84],"novel":[86],"method":[87,154],"simultaneous":[89],"LiDAR":[90,145],"low":[98],"latency":[99],"high":[101],"precision":[102,123],"based":[103],"on":[104,111],"single":[106],"network.":[107],"our":[109,153],"experiments":[110],"KITTI":[113],"dataset,":[114],"PillarFlowNet":[115],"achieves":[116],"16.3":[118],"percentage":[119],"points":[120],"higher":[121],"average":[122,133],"score":[124],"21.4":[129],"%":[130],"reduction":[131],"endpoint":[134],"error":[135],"compared":[139],"state-of-the-art":[142],"multitask":[144],"estimation.":[151],"Furthermore,":[152],"is":[155],"significantly":[156],"faster":[157],"than":[158],"previous":[159],"methods,":[160],"making":[161],"it":[162],"first":[164],"applicable":[167],"real-time":[169],"systems.":[170]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}