{"id":"https://openalex.org/W4200200310","doi":"https://doi.org/10.1109/iros51168.2021.9635875","title":"PLUMENet: Efficient 3D Object Detection from Stereo Images","display_name":"PLUMENet: Efficient 3D Object Detection from Stereo Images","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200200310","doi":"https://doi.org/10.1109/iros51168.2021.9635875"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9635875","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9635875","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5100322712","display_name":"Yan Wang","orcid":"https://orcid.org/0000-0002-5344-1884"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yan Wang","raw_affiliation_strings":["Cornell University"],"affiliations":[{"raw_affiliation_string":"Cornell University","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059650009","display_name":"Bin Yang","orcid":"https://orcid.org/0000-0002-3015-3580"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Bin Yang","raw_affiliation_strings":["University of Toronto","Waabi"],"affiliations":[{"raw_affiliation_string":"University of Toronto","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Waabi","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074252142","display_name":"Rui Hu","orcid":"https://orcid.org/0000-0002-3771-2920"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rui Hu","raw_affiliation_strings":["Waabi"],"affiliations":[{"raw_affiliation_string":"Waabi","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021434848","display_name":"Ming Liang","orcid":"https://orcid.org/0000-0002-2723-9041"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ming Liang","raw_affiliation_strings":["Waabi"],"affiliations":[{"raw_affiliation_string":"Waabi","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058557954","display_name":"Raquel Urtasun","orcid":null},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Raquel Urtasun","raw_affiliation_strings":["University of Toronto","Waabi"],"affiliations":[{"raw_affiliation_string":"University of Toronto","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Waabi","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100322712"],"corresponding_institution_ids":["https://openalex.org/I205783295"],"apc_list":null,"apc_paid":null,"fwci":1.8296,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.90855415,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3383","last_page":"3390"},"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":0.9994000196456909,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9994000196456909,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7502235174179077},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7496034502983093},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7078511714935303},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7011964321136475},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6956278681755066},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6671741604804993},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.607579231262207},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5933329463005066},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5124350190162659},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4602109491825104},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4408416152000427},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.44052496552467346},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.4333542287349701},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.42606109380722046},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4123097062110901},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.31552404165267944},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.18084338307380676},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09135115146636963},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07891020178794861}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7502235174179077},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7496034502983093},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7078511714935303},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7011964321136475},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6956278681755066},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6671741604804993},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.607579231262207},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5933329463005066},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5124350190162659},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4602109491825104},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4408416152000427},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.44052496552467346},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.4333542287349701},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.42606109380722046},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4123097062110901},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.31552404165267944},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.18084338307380676},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09135115146636963},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07891020178794861},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9635875","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9635875","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":58,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1772650917","https://openalex.org/W1946609740","https://openalex.org/W2104974755","https://openalex.org/W2115579991","https://openalex.org/W2150066425","https://openalex.org/W2184393491","https://openalex.org/W2194775991","https://openalex.org/W2342242867","https://openalex.org/W2440384215","https://openalex.org/W2468368736","https://openalex.org/W2555618208","https://openalex.org/W2560544142","https://openalex.org/W2565639579","https://openalex.org/W2589615404","https://openalex.org/W2604231069","https://openalex.org/W2605189827","https://openalex.org/W2748099314","https://openalex.org/W2798297823","https://openalex.org/W2798462325","https://openalex.org/W2798965597","https://openalex.org/W2899302124","https://openalex.org/W2949708697","https://openalex.org/W2951517617","https://openalex.org/W2954174912","https://openalex.org/W2954258401","https://openalex.org/W2962807143","https://openalex.org/W2963121255","https://openalex.org/W2963150697","https://openalex.org/W2963619659","https://openalex.org/W2963727135","https://openalex.org/W2963809933","https://openalex.org/W2964062501","https://openalex.org/W2964166085","https://openalex.org/W2968296999","https://openalex.org/W2991095133","https://openalex.org/W2996166203","https://openalex.org/W2997558685","https://openalex.org/W3034314779","https://openalex.org/W3034407526","https://openalex.org/W3035651586","https://openalex.org/W3035749845","https://openalex.org/W3039568246","https://openalex.org/W3090896893","https://openalex.org/W3117804044","https://openalex.org/W3130618527","https://openalex.org/W4289283268","https://openalex.org/W6620707391","https://openalex.org/W6638039622","https://openalex.org/W6686211706","https://openalex.org/W6739778489","https://openalex.org/W6742835132","https://openalex.org/W6755742144","https://openalex.org/W6756392615","https://openalex.org/W6764514022","https://openalex.org/W6765299845","https://openalex.org/W6776355544","https://openalex.org/W6780507750"],"related_works":["https://openalex.org/W17155033","https://openalex.org/W4319317934","https://openalex.org/W3207760230","https://openalex.org/W1496222301","https://openalex.org/W1590307681","https://openalex.org/W2536018345","https://openalex.org/W4312814274","https://openalex.org/W4285370786","https://openalex.org/W4293094720","https://openalex.org/W2739701376"],"abstract_inverted_index":{"3D":[0,21,29,76,131],"object":[1,77,143],"detection":[2,144],"is":[3,59,69,82,134],"a":[4,42,63,75,105,124],"key":[5],"component":[6],"of":[7],"many":[8,16],"robotic":[9],"applications":[10],"such":[11,23],"as":[12,24,72,89],"self-driving":[13],"vehicles.":[14],"While":[15],"approaches":[17,46],"rely":[18],"on":[19,161],"expensive":[20],"sensors":[22],"LiDAR":[25,65,126],"to":[26,61,74,85,137,158],"produce":[27,62],"accurate":[28],"estimates,":[30],"methods":[31,160],"that":[32,107],"exploit":[33],"stereo":[34,57],"cameras":[35],"have":[36],"recently":[37],"shown":[38],"promising":[39],"results":[40],"at":[41],"lower":[43],"cost.":[44],"Existing":[45],"tackle":[47],"this":[48,80,101],"problem":[49],"in":[50,95,115,130],"two":[51,91,96,110],"steps:":[52],"first":[53],"depth":[54,140],"estimation":[55,141],"from":[56],"images":[58],"performed":[60],"pseudo":[64,125],"point":[66],"cloud,":[67],"which":[68,133],"then":[70,135],"used":[71,136],"input":[73],"detector.":[78],"However,":[79],"approach":[81,147],"suboptimal":[83],"due":[84],"the":[86,90,116,162],"representation":[87],"mismatch,":[88],"tasks":[92,111],"are":[93],"optimized":[94],"different":[97],"metric":[98,118],"spaces.":[99],"In":[100],"paper":[102],"we":[103,121],"propose":[104],"model":[106],"unifies":[108],"these":[109],"and":[112,142],"performs":[113],"them":[114],"same":[117],"space.":[119],"Specifically,":[120],"directly":[122],"construct":[123],"feature":[127],"volume":[128],"(PLUME)":[129],"space,":[132],"solve":[138],"both":[139],"tasks.":[145],"Our":[146],"achieves":[148],"state-of-the-art":[149],"performance":[150],"with":[151],"much":[152],"faster":[153],"inference":[154],"times":[155],"when":[156],"compared":[157],"existing":[159],"challenging":[163],"KITTI":[164],"benchmark":[165],"[1].":[166]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":6}],"updated_date":"2026-02-25T08:12:03.925757","created_date":"2025-10-10T00:00:00"}