{"id":"https://openalex.org/W4389667053","doi":"https://doi.org/10.1109/iros55552.2023.10341426","title":"LiDAR-SGMOS: Semantics-Guided Moving Object Segmentation with 3D LiDAR","display_name":"LiDAR-SGMOS: Semantics-Guided Moving Object Segmentation with 3D LiDAR","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389667053","doi":"https://doi.org/10.1109/iros55552.2023.10341426"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341426","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341426","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5060609514","display_name":"Shuo Gu","orcid":"https://orcid.org/0000-0002-4511-0815"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuo Gu","raw_affiliation_strings":["School of Computer Science and Engineering, Nanjing University of Science and Technology,PCA Laboratory, Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education, Jiangsu Key Laboratory of Image and Video Understanding for Social Security,Nanjing,China,210094"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Nanjing University of Science and Technology,PCA Laboratory, Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education, Jiangsu Key Laboratory of Image and Video Understanding for Social Security,Nanjing,China,210094","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006685884","display_name":"Suling Yao","orcid":null},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Suling Yao","raw_affiliation_strings":["School of Computer Science and Engineering, Nanjing University of Science and Technology,PCA Laboratory, Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education, Jiangsu Key Laboratory of Image and Video Understanding for Social Security,Nanjing,China,210094"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Nanjing University of Science and Technology,PCA Laboratory, Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education, Jiangsu Key Laboratory of Image and Video Understanding for Social Security,Nanjing,China,210094","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100726984","display_name":"Jian Yang","orcid":"https://orcid.org/0000-0003-4800-832X"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Yang","raw_affiliation_strings":["School of Computer Science and Engineering, Nanjing University of Science and Technology,PCA Laboratory, Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education, Jiangsu Key Laboratory of Image and Video Understanding for Social Security,Nanjing,China,210094"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Nanjing University of Science and Technology,PCA Laboratory, Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education, Jiangsu Key Laboratory of Image and Video Understanding for Social Security,Nanjing,China,210094","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012773300","display_name":"Chengzhong Xu","orcid":"https://orcid.org/0000-0001-9480-0356"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]},{"id":"https://openalex.org/I6469544","display_name":"City University of Macau","ror":"https://ror.org/04gpd4q15","country_code":"MO","type":"education","lineage":["https://openalex.org/I6469544"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Chengzhong Xu","raw_affiliation_strings":["University of Macau,State Key Laboratory of Internet of Things for Smart City (SKL-IOTSC),Macau,China,519000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Macau,State Key Laboratory of Internet of Things for Smart City (SKL-IOTSC),Macau,China,519000","institution_ids":["https://openalex.org/I204512498","https://openalex.org/I6469544"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036133825","display_name":"Hui Kong","orcid":"https://orcid.org/0000-0002-5303-0276"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]},{"id":"https://openalex.org/I6469544","display_name":"City University of Macau","ror":"https://ror.org/04gpd4q15","country_code":"MO","type":"education","lineage":["https://openalex.org/I6469544"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Hui Kong","raw_affiliation_strings":["University of Macau,State Key Laboratory of Internet of Things for Smart City (SKL-IOTSC),Macau,China,519000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Macau,State Key Laboratory of Internet of Things for Smart City (SKL-IOTSC),Macau,China,519000","institution_ids":["https://openalex.org/I204512498","https://openalex.org/I6469544"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"70","last_page":"75"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9995999932289124,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9993000030517578,"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":0.8157232999801636},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7601402997970581},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7435977458953857},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.7321838140487671},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6842413544654846},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.6745594143867493},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.5860151052474976},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.5231757760047913},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.5063470602035522},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.43216729164123535},{"id":"https://openalex.org/keywords/kernel","display_name":"Kernel (algebra)","score":0.4253499507904053},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4249800741672516},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.16610130667686462},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1249074637889862},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.0941523015499115}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8157232999801636},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7601402997970581},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7435977458953857},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.7321838140487671},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6842413544654846},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.6745594143867493},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.5860151052474976},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.5231757760047913},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.5063470602035522},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.43216729164123535},{"id":"https://openalex.org/C74193536","wikidata":"https://www.wikidata.org/wiki/Q574844","display_name":"Kernel (algebra)","level":2,"score":0.4253499507904053},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4249800741672516},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.16610130667686462},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1249074637889862},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0941523015499115},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10341426","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341426","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6034192663","display_name":null,"funder_award_id":"62106106","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6284851757","display_name":null,"funder_award_id":"0015/2019/AKP,AGJ-2021-0046","funder_id":"https://openalex.org/F4320321655","funder_display_name":"Science and Technology Development Fund"},{"id":"https://openalex.org/G8202730984","display_name":null,"funder_award_id":"SRG2021-00022-IOTSC,SKL-IOTSC(UM)-2021-2023","funder_id":"https://openalex.org/F4320326962","funder_display_name":"Macau University of Science and Technology Foundation"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321655","display_name":"Science and Technology Development Fund","ror":"https://ror.org/044vr6g03"},{"id":"https://openalex.org/F4320326962","display_name":"Macau University of Science and Technology Foundation","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W2031489346","https://openalex.org/W2150066425","https://openalex.org/W2795587607","https://openalex.org/W2954561862","https://openalex.org/W2963125977","https://openalex.org/W2963589995","https://openalex.org/W2990613095","https://openalex.org/W2991216808","https://openalex.org/W3003437478","https://openalex.org/W3012494314","https://openalex.org/W3034486798","https://openalex.org/W3034731255","https://openalex.org/W3089607054","https://openalex.org/W3093434340","https://openalex.org/W3109154950","https://openalex.org/W3133309409","https://openalex.org/W3136022415","https://openalex.org/W3161855852","https://openalex.org/W3177330511","https://openalex.org/W3181190968","https://openalex.org/W4221141829","https://openalex.org/W4285110186","https://openalex.org/W4285199148","https://openalex.org/W4312418574","https://openalex.org/W6763422710","https://openalex.org/W6765328322"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W3000097931","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W4281783339","https://openalex.org/W2354322770","https://openalex.org/W1964041166"],"abstract_inverted_index":{"Most":[0],"of":[1,45,53,101],"the":[2,20,39,46,50,58,70,75,95,104,111,138,156],"existing":[3],"moving":[4,32],"object":[5,33],"segmentation":[6,34],"(MOS)":[7],"methods":[8,146],"regard":[9],"MOS":[10,21,125,139,158],"as":[11,153],"an":[12],"independent":[13],"task,":[14],"in":[15],"this":[16],"paper,":[17],"we":[18,82],"associate":[19],"task":[22],"with":[23,114,147],"semantic":[24,43,99,118],"segmentation,":[25],"and":[26,42,77,98,107,117],"propose":[27],"a":[28,84,130],"semantics-guided":[29],"network":[30],"for":[31],"(LiDAR-SGMOS).":[35],"We":[36,127],"first":[37],"transform":[38],"range":[40,51,79,96],"image":[41,65,106,132],"features":[44,100,113],"past":[47],"scan":[48,55,88],"into":[49],"view":[52],"current":[54,76,102],"based":[56,86],"on":[57,155],"relative":[59],"pose":[60],"between":[61,74],"scans.":[62],"The":[63],"residual":[64,105,131],"is":[66],"obtained":[67],"by":[68],"calculating":[69],"normalized":[71],"absolute":[72],"difference":[73],"transformed":[78,108],"images.":[80],"Then,":[81],"apply":[83],"Meta-Kernel":[85],"cross":[87],"fusion":[89],"(CSF)":[90],"module":[91],"to":[92,122,135],"adaptively":[93],"fuse":[94],"images":[97],"scan,":[103],"features.":[109],"Finally,":[110],"fused":[112],"rich":[115],"motion":[116],"information":[119],"are":[120],"processed":[121],"obtain":[123],"reliable":[124],"results.":[126],"also":[128],"introduce":[129],"augmentation":[133],"method":[134,142],"further":[136],"improve":[137],"performance.":[140],"Our":[141],"outperforms":[143],"most":[144],"LiDAR-MOS":[145],"only":[148],"two":[149],"sequential":[150],"LiDAR":[151],"scans":[152],"inputs":[154],"SemanticKITTI":[157],"dataset.":[159]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
