{"id":"https://openalex.org/W4405785716","doi":"https://doi.org/10.1109/iros58592.2024.10801871","title":"mini-PointNetPlus: A Local Feature Descriptor in Deep Learning Model for Real-time 3D Environment Perception","display_name":"mini-PointNetPlus: A Local Feature Descriptor in Deep Learning Model for Real-time 3D Environment Perception","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785716","doi":"https://doi.org/10.1109/iros58592.2024.10801871"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801871","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801871","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/A5028793944","display_name":"Chuanyu Luo","orcid":"https://orcid.org/0009-0000-1815-2457"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Chuanyu Luo","raw_affiliation_strings":["LiangDao GmbH,Berlin,Germany,12099"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LiangDao GmbH,Berlin,Germany,12099","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111883158","display_name":"Nuo Cheng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nuo Cheng","raw_affiliation_strings":["LiangDao GmbH,Berlin,Germany,12099"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LiangDao GmbH,Berlin,Germany,12099","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101225171","display_name":"Sikun Ma","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sikun Ma","raw_affiliation_strings":["LiangDao GmbH,Berlin,Germany,12099"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LiangDao GmbH,Berlin,Germany,12099","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101606829","display_name":"Jun Xiang","orcid":"https://orcid.org/0000-0002-0447-2334"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jun Xiang","raw_affiliation_strings":["LiangDao GmbH,Berlin,Germany,12099"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LiangDao GmbH,Berlin,Germany,12099","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100644751","display_name":"Xiaohan Li","orcid":"https://orcid.org/0000-0001-9493-3597"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiaohan Li","raw_affiliation_strings":["LiangDao GmbH,Berlin,Germany,12099"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LiangDao GmbH,Berlin,Germany,12099","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009747355","display_name":"Shengguang Lei","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shengguang Lei","raw_affiliation_strings":["LiangDao GmbH,Berlin,Germany,12099"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LiangDao GmbH,Berlin,Germany,12099","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100404009","display_name":"Pu Li","orcid":"https://orcid.org/0000-0001-6481-9961"},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Pu Li","raw_affiliation_strings":["Ilmenau University of Technology,Ilmenau,Germany,98693"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ilmenau University of Technology,Ilmenau,Germany,98693","institution_ids":["https://openalex.org/I119449181"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5028793944"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.7094,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.92833315,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"9362","last_page":"9366"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9871000051498413,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9871000051498413,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9855999946594238,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9828000068664551,"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":0.7405768632888794},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.6919307112693787},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6838928461074829},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6376076936721802},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.4427414536476135},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.429749071598053},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.36638206243515015},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35870444774627686},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.10020509362220764}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7405768632888794},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.6919307112693787},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6838928461074829},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6376076936721802},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.4427414536476135},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.429749071598053},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.36638206243515015},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35870444774627686},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.10020509362220764},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801871","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801871","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":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.699999988079071}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W2150066425","https://openalex.org/W2193145675","https://openalex.org/W2897529137","https://openalex.org/W2963727135","https://openalex.org/W2968296999","https://openalex.org/W2989604896","https://openalex.org/W3035574168","https://openalex.org/W3113028524","https://openalex.org/W3166089996","https://openalex.org/W3167095230","https://openalex.org/W4214755140","https://openalex.org/W4308067884","https://openalex.org/W4312307873","https://openalex.org/W4312617306","https://openalex.org/W4385245566","https://openalex.org/W4386066365","https://openalex.org/W4386076253","https://openalex.org/W6677995690","https://openalex.org/W6739778489","https://openalex.org/W6763422710"],"related_works":["https://openalex.org/W2601157893","https://openalex.org/W2373006798","https://openalex.org/W2131735617","https://openalex.org/W2056912418","https://openalex.org/W2033213769","https://openalex.org/W4312376745","https://openalex.org/W2136016640","https://openalex.org/W2049538278","https://openalex.org/W2886173746","https://openalex.org/W4200043248"],"abstract_inverted_index":{"Common":[0],"deep":[1,48],"learning":[2,49],"models":[3,50],"for":[4,51,109,178],"3D":[5,52,179],"real-time":[6],"environment":[7],"perception":[8],"often":[9],"use":[10],"pillarization/voxelization":[11],"methods":[12],"to":[13,54,111,117,123,130,143,152,161],"convert":[14],"point":[15,59,141],"cloud":[16,142],"data":[17,121],"into":[18],"pillars/voxels":[19],"and":[20],"then":[21],"process":[22],"it":[23],"with":[24],"a":[25,40,44,58,66,100,131,144,154,174],"2D/3D":[26],"convolutional":[27],"neural":[28],"network":[29],"(CNN).":[30],"The":[31,147],"pioneer":[32],"work":[33],"PointNet":[34,149],"has":[35],"been":[36],"widely":[37],"applied":[38],"as":[39,106],"local":[41,102],"feature":[42,103],"descriptor,":[43,104,169],"fundamental":[45],"component":[46],"in":[47,172],"perception,":[53],"extract":[55],"features":[56,126,165],"of":[57,79,157],"cloud.":[60],"This":[61],"is":[62,116,150],"achieved":[63],"by":[64,76,166],"using":[65],"symmetric":[67],"max-pooling":[68,83],"operator":[69,84],"which":[70,89],"provides":[71],"unique":[72],"pillar/voxel":[73],"features.":[74],"However,":[75],"ignoring":[77],"most":[78],"the":[80,82,91,120,124,135,164,167],"points,":[81],"causes":[85],"an":[86,107,139],"information":[87],"loss,":[88],"reduces":[90],"model":[92],"performance.":[93],"To":[94],"address":[95],"this":[96],"issue,":[97],"we":[98,170],"propose":[99],"novel":[101],"mini-PointNetPlus,":[105],"alternative":[108],"plug-and-play":[110],"PointNet.":[112],"Our":[113],"basic":[114],"idea":[115],"separately":[118],"project":[119],"points":[122],"individual":[125],"considered,":[127],"each":[128],"leading":[129],"permutation":[132],"invariant.":[133],"Thus,":[134],"proposed":[136,168],"descriptor":[137],"transforms":[138],"unordered":[140],"stable":[145],"order.":[146],"vanilla":[148],"proved":[151],"be":[153],"special":[155],"case":[156],"our":[158],"mini-PointNetPlus.":[159],"Due":[160],"fully":[162],"utilizing":[163],"demonstrate":[171],"experiment":[173],"considerable":[175],"performance":[176],"improvement":[177],"perception.":[180]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-03T08:25:01.440150","created_date":"2025-10-10T00:00:00"}