{"id":"https://openalex.org/W4405785538","doi":"https://doi.org/10.1109/iros58592.2024.10801684","title":"SWCF-Net: Similarity-weighted Convolution and Local-global Fusion for Efficient Large-scale Point Cloud Semantic Segmentation","display_name":"SWCF-Net: Similarity-weighted Convolution and Local-global Fusion for Efficient Large-scale Point Cloud Semantic Segmentation","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785538","doi":"https://doi.org/10.1109/iros58592.2024.10801684"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801684","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801684","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5100316452","display_name":"Zhenchao Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhenchao Lin","raw_affiliation_strings":["Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL), School of Electromechanical Engineering,Guangzhou,China"],"affiliations":[{"raw_affiliation_string":"Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL), School of Electromechanical Engineering,Guangzhou,China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100317850","display_name":"He Li","orcid":"https://orcid.org/0000-0002-1540-189X"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li He","raw_affiliation_strings":["Southern University of Science and Technology,Department of Electronic and Electrical Engineering,China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Department of Electronic and Electrical Engineering,China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102413599","display_name":"Hongqiang Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hongqiang Yang","raw_affiliation_strings":["Meituan Technology Co., Ltd,Shenzhen,China"],"affiliations":[{"raw_affiliation_string":"Meituan Technology Co., Ltd,Shenzhen,China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102311914","display_name":"Xiaoqun Sun","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiaoqun Sun","raw_affiliation_strings":["Meituan Technology Co., Ltd,Shenzhen,China"],"affiliations":[{"raw_affiliation_string":"Meituan Technology Co., Ltd,Shenzhen,China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101625295","display_name":"Guojin Zhang","orcid":"https://orcid.org/0000-0002-4312-5212"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guojin Zhang","raw_affiliation_strings":["Meituan Technology Co., Ltd,Shenzhen,China"],"affiliations":[{"raw_affiliation_string":"Meituan Technology Co., Ltd,Shenzhen,China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101989449","display_name":"Weinan Chen","orcid":"https://orcid.org/0009-0009-5233-6247"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weinan Chen","raw_affiliation_strings":["Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL), School of Electromechanical Engineering,Guangzhou,China"],"affiliations":[{"raw_affiliation_string":"Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL), School of Electromechanical Engineering,Guangzhou,China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013471002","display_name":"Yisheng Guan","orcid":"https://orcid.org/0000-0002-7011-0331"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yisheng Guan","raw_affiliation_strings":["Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL), School of Electromechanical Engineering,Guangzhou,China"],"affiliations":[{"raw_affiliation_string":"Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL), School of Electromechanical Engineering,Guangzhou,China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100783301","display_name":"Hong Zhang","orcid":"https://orcid.org/0000-0002-2642-5467"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Zhang","raw_affiliation_strings":["Southern University of Science and Technology,Department of Electronic and Electrical Engineering,China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Department of Electronic and Electrical Engineering,China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5100316452"],"corresponding_institution_ids":["https://openalex.org/I139024713"],"apc_list":null,"apc_paid":null,"fwci":0.8809,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.8293752,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"2602","last_page":"2609"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T14339","display_name":"Image Processing and 3D Reconstruction","score":0.9902999997138977,"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":0.716052234172821},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6684650778770447},{"id":"https://openalex.org/keywords/convolution","display_name":"Convolution (computer science)","score":0.6303976774215698},{"id":"https://openalex.org/keywords/similarity","display_name":"Similarity (geometry)","score":0.6131985187530518},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.6018465757369995},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5728996396064758},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.5465731620788574},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5092012286186218},{"id":"https://openalex.org/keywords/semantic-similarity","display_name":"Semantic similarity","score":0.48736459016799927},{"id":"https://openalex.org/keywords/net","display_name":"Net (polyhedron)","score":0.4814671576023102},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.44733110070228577},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.4245736598968506},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3758049011230469},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15328052639961243},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.1401166021823883},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.10385105013847351},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.08288946747779846},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07492753863334656}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.716052234172821},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6684650778770447},{"id":"https://openalex.org/C45347329","wikidata":"https://www.wikidata.org/wiki/Q5166604","display_name":"Convolution (computer science)","level":3,"score":0.6303976774215698},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.6131985187530518},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.6018465757369995},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5728996396064758},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.5465731620788574},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5092012286186218},{"id":"https://openalex.org/C130318100","wikidata":"https://www.wikidata.org/wiki/Q2268914","display_name":"Semantic similarity","level":2,"score":0.48736459016799927},{"id":"https://openalex.org/C14166107","wikidata":"https://www.wikidata.org/wiki/Q253829","display_name":"Net (polyhedron)","level":2,"score":0.4814671576023102},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.44733110070228577},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.4245736598968506},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3758049011230469},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15328052639961243},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.1401166021823883},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.10385105013847351},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.08288946747779846},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07492753863334656},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801684","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801684","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W2579923771","https://openalex.org/W2797997528","https://openalex.org/W2963231572","https://openalex.org/W2963281829","https://openalex.org/W2979750740","https://openalex.org/W2990613095","https://openalex.org/W2991216808","https://openalex.org/W2998083489","https://openalex.org/W3003437478","https://openalex.org/W3011788244","https://openalex.org/W3034239841","https://openalex.org/W3039448353","https://openalex.org/W3109944402","https://openalex.org/W3162787701","https://openalex.org/W3171215128","https://openalex.org/W3175515048","https://openalex.org/W4214755140","https://openalex.org/W4214893857","https://openalex.org/W4220967590","https://openalex.org/W4281555123","https://openalex.org/W4292969803","https://openalex.org/W4312442876","https://openalex.org/W4317569045","https://openalex.org/W4317987768","https://openalex.org/W4383108464","https://openalex.org/W4385245566","https://openalex.org/W4385819743","https://openalex.org/W4390874124","https://openalex.org/W6620707391","https://openalex.org/W6739778489","https://openalex.org/W6743774805","https://openalex.org/W6763422710","https://openalex.org/W6810249204","https://openalex.org/W6859725859"],"related_works":["https://openalex.org/W4389574804","https://openalex.org/W2912321008","https://openalex.org/W3016928466","https://openalex.org/W2936725271","https://openalex.org/W1998607122","https://openalex.org/W3150655618","https://openalex.org/W3108295644","https://openalex.org/W1578717197","https://openalex.org/W2626737336","https://openalex.org/W2005998065"],"abstract_inverted_index":{"Large-scale":[0],"point":[1,28,130,197],"cloud":[2],"consists":[3],"of":[4,7,177],"a":[5,21,27,58,78,104,184],"multitude":[6],"individual":[8],"objects,":[9],"thereby":[10,117,148],"encompassing":[11],"rich":[12],"structural":[13],"and":[14,61,73,110,142,154,157,169,191],"underlying":[15],"semantic":[16,51],"contextual":[17],"information,":[18],"resulting":[19],"in":[20,24,138],"challenging":[22],"problem":[23],"efficiently":[25],"segmenting":[26],"cloud.":[29,131],"Most":[30],"existing":[31],"researches":[32],"mainly":[33],"focus":[34],"on":[35,107,164],"capturing":[36],"intricate":[37],"local":[38,72,85,146,153],"features":[39,141,156],"without":[40],"giving":[41],"due":[42],"consideration":[43],"to":[44,49,82,96,122,126,194],"global":[45,74,140,155],"ones,":[46],"thus":[47],"failing":[48],"leverage":[50],"context.":[52],"In":[53],"this":[54],"paper,":[55],"we":[56,102],"propose":[57,77],"Similarity-Weighted":[59,79],"Convolution":[60,80],"local-global":[62],"Fusion":[63],"Network,":[64],"named":[65],"SWCF-Net,":[66],"which":[67],"takes":[68],"into":[69,92],"account":[70],"both":[71],"features.":[75],"We":[76,161],"(SWConv)":[81],"effectively":[83],"extract":[84],"features,":[86,147],"where":[87],"similarity":[88],"weights":[89],"are":[90,136],"incorporated":[91],"the":[93,98,108,114,119,139,175,178],"convolution":[94],"operation":[95,106],"enhance":[97],"generalization":[99],"capabilities.":[100],"Then,":[101],"employ":[103],"downsampling":[105],"K":[109],"V":[111],"channels":[112],"within":[113],"attention":[115],"module,":[116],"reducing":[118],"quadratic":[120],"complexity":[121],"linear,":[123],"enabling":[124],"Transformer":[125],"deal":[127],"with":[128,145,187],"large-scale":[129,165,196],"At":[132],"last,":[133],"orthogonal":[134],"components":[135],"extracted":[137],"then":[143],"aggregated":[144],"eliminating":[149],"redundant":[150],"information":[151],"between":[152],"consequently":[158],"promoting":[159],"efficiency.":[160],"evaluate":[162],"SWCF-Net":[163],"outdoor":[166],"datasets":[167],"SemanticKITTI":[168],"Toronto3D.":[170],"Our":[171,181],"experimental":[172],"results":[173],"demonstrate":[174],"effectiveness":[176],"proposed":[179],"network.":[180],"method":[182],"achieves":[183],"competitive":[185],"result":[186],"less":[188],"computational":[189],"cost,":[190],"is":[192,202],"able":[193],"handle":[195],"clouds":[198],"efficiently.":[199],"The":[200],"code":[201],"available":[203],"at":[204],"https://github.com/Sylva-Lin/SWCF-Net.":[205]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}
