{"id":"https://openalex.org/W3185026443","doi":"https://doi.org/10.1109/iros51168.2021.9636707","title":"Disentangling and Vectorization: A 3D Visual Perception Approach for Autonomous Driving Based on Surround-View Fisheye Cameras","display_name":"Disentangling and Vectorization: A 3D Visual Perception Approach for Autonomous Driving Based on Surround-View Fisheye Cameras","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3185026443","doi":"https://doi.org/10.1109/iros51168.2021.9636707","mag":"3185026443"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636707","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636707","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/A5091037704","display_name":"Zizhang Wu","orcid":"https://orcid.org/0000-0002-2169-8271"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Zizhang Wu","raw_affiliation_strings":["Zongmu Technology"],"affiliations":[{"raw_affiliation_string":"Zongmu Technology","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100721586","display_name":"Wenkai Zhang","orcid":"https://orcid.org/0000-0002-8903-2708"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wenkai Zhang","raw_affiliation_strings":["Zongmu Technology"],"affiliations":[{"raw_affiliation_string":"Zongmu Technology","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101859192","display_name":"Jizheng Wang","orcid":"https://orcid.org/0000-0002-2961-524X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jizheng Wang","raw_affiliation_strings":["Zongmu Technology"],"affiliations":[{"raw_affiliation_string":"Zongmu Technology","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049057785","display_name":"Man Wang","orcid":"https://orcid.org/0000-0002-1201-7518"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Man Wang","raw_affiliation_strings":["Zongmu Technology"],"affiliations":[{"raw_affiliation_string":"Zongmu Technology","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025716158","display_name":"Yuanzhu Gan","orcid":"https://orcid.org/0000-0002-6222-0442"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuanzhu Gan","raw_affiliation_strings":["Zongmu Technology"],"affiliations":[{"raw_affiliation_string":"Zongmu Technology","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045753550","display_name":"Xinchao Gou","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Xinchao Gou","raw_affiliation_strings":["Karlsruhe Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Karlsruhe Institute of Technology","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010396627","display_name":"Muqing Fang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Muqing Fang","raw_affiliation_strings":["Zongmu Technology"],"affiliations":[{"raw_affiliation_string":"Zongmu Technology","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100686626","display_name":"Jing Song","orcid":"https://orcid.org/0000-0001-7921-3049"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jing Song","raw_affiliation_strings":["Zongmu Technology"],"affiliations":[{"raw_affiliation_string":"Zongmu Technology","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5091037704"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1971,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.56040653,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"7","issue":null,"first_page":"5576","last_page":"5582"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":1.0,"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":1.0,"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":0.9994999766349792,"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/T11605","display_name":"Visual Attention and Saliency Detection","score":0.9976000189781189,"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":0.7885589599609375},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7546834349632263},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7463972568511963},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5404821634292603},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5143345594406128},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5133082270622253},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4921962320804596},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.4598667621612549},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.2566431164741516},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08783197402954102}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7885589599609375},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7546834349632263},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7463972568511963},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5404821634292603},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5143345594406128},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5133082270622253},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4921962320804596},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.4598667621612549},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2566431164741516},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08783197402954102},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636707","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636707","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":[{"score":0.8399999737739563,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W1557102613","https://openalex.org/W1991742456","https://openalex.org/W2088629792","https://openalex.org/W2112796928","https://openalex.org/W2150066425","https://openalex.org/W2415454270","https://openalex.org/W2468368736","https://openalex.org/W2560544142","https://openalex.org/W2605189827","https://openalex.org/W2886168685","https://openalex.org/W2913795037","https://openalex.org/W2935837427","https://openalex.org/W2951517617","https://openalex.org/W2953941229","https://openalex.org/W2962999504","https://openalex.org/W2963037989","https://openalex.org/W2963083779","https://openalex.org/W2963241193","https://openalex.org/W2963794551","https://openalex.org/W2971173446","https://openalex.org/W2971344836","https://openalex.org/W2974351790","https://openalex.org/W2997162428","https://openalex.org/W2998633559","https://openalex.org/W2999947750","https://openalex.org/W3004734937","https://openalex.org/W3010471995","https://openalex.org/W3010868115","https://openalex.org/W3017002808","https://openalex.org/W3035254347","https://openalex.org/W3036587719","https://openalex.org/W3039832884","https://openalex.org/W3090198514","https://openalex.org/W3118942022","https://openalex.org/W3122088084","https://openalex.org/W3128100939","https://openalex.org/W3131975216","https://openalex.org/W3132393560","https://openalex.org/W3135227369","https://openalex.org/W3174776197","https://openalex.org/W4288245279","https://openalex.org/W6628973269","https://openalex.org/W6759535155","https://openalex.org/W6760424586","https://openalex.org/W6767359532","https://openalex.org/W6767831522","https://openalex.org/W6774529792","https://openalex.org/W6780026799","https://openalex.org/W6790858013"],"related_works":["https://openalex.org/W2095705906","https://openalex.org/W4323338596","https://openalex.org/W4224011692","https://openalex.org/W4224910048","https://openalex.org/W2975200075","https://openalex.org/W2922421953","https://openalex.org/W3131895034","https://openalex.org/W1971759388","https://openalex.org/W2025800131","https://openalex.org/W2129974284"],"abstract_inverted_index":{"The":[0,134],"3D":[1,26,47,70,78],"visual":[2],"perception":[3],"for":[4,18,38,122],"vehicles":[5],"with":[6],"the":[7,35,44,61,65,77,101,108,119,123],"surround-view":[8],"fisheye":[9,36,138],"camera":[10],"system":[11],"is":[12],"a":[13,129],"critical":[14],"and":[15,59,94,115],"challenging":[16],"task":[17,81],"low-cost":[19],"urban":[20],"autonomous":[21],"driving.":[22],"While":[23],"existing":[24],"monocular":[25],"object":[27,79],"detection":[28,80],"methods":[29],"perform":[30],"not":[31],"well":[32],"enough":[33],"on":[34],"images":[37,139],"mass":[39],"production,":[40],"partly":[41],"due":[42],"to":[43,57,106],"lack":[45],"of":[46,49,63,68,103,118,131,136],"datasets":[48],"such":[50,85],"images.":[51],"In":[52],"this":[53],"paper,":[54],"we":[55,99],"manage":[56],"overcome":[58],"avoid":[60],"difficulty":[62],"acquiring":[64],"large":[66],"scale":[67],"accurate":[69],"labeled":[71],"truth":[72],"data,":[73],"by":[74],"breaking":[75],"down":[76],"into":[82],"some":[83],"sub-tasks,":[84],"as":[86],"vehicle\u2019s":[87],"contact":[88],"point":[89],"detection,":[90],"type":[91],"classification,":[92],"re-identification":[93],"unit":[95],"assembling,":[96],"etc.":[97],"Particularly,":[98],"propose":[100],"concept":[102],"Multidimensional":[104],"Vector":[105],"include":[107],"utilizable":[109],"information":[110],"generated":[111],"in":[112,150],"different":[113],"dimensions":[114],"stages,":[116],"instead":[117],"descriptive":[120],"approach":[121],"bird\u2019s":[124],"eye":[125],"view":[126],"(BEV)":[127],"or":[128],"cube":[130],"eight":[132],"points.":[133],"experiments":[135],"real":[137],"demonstrate":[140],"that":[141],"our":[142],"solution":[143],"achieves":[144],"state-of-the-art":[145],"accuracy":[146],"while":[147],"being":[148],"real-time":[149],"practice.":[151]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}