{"id":"https://openalex.org/W4416750415","doi":"https://doi.org/10.1109/iros60139.2025.11247689","title":"Label-Efficient LiDAR Semantic Segmentation with 2D-3D Vision Transformer Adapters","display_name":"Label-Efficient LiDAR Semantic Segmentation with 2D-3D Vision Transformer Adapters","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750415","doi":"https://doi.org/10.1109/iros60139.2025.11247689"},"language":"en","primary_location":{"id":"doi:10.1109/iros60139.2025.11247689","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247689","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5087158861","display_name":"Julia Hindel","orcid":"https://orcid.org/0000-0002-7228-5717"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Julia Hindel","raw_affiliation_strings":["University of Freiburg,Department of Computer Science,Germany"],"affiliations":[{"raw_affiliation_string":"University of Freiburg,Department of Computer Science,Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057076519","display_name":"Rohit Mohan","orcid":"https://orcid.org/0000-0002-5067-4279"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rohit Mohan","raw_affiliation_strings":["University of Freiburg,Department of Computer Science,Germany"],"affiliations":[{"raw_affiliation_string":"University of Freiburg,Department of Computer Science,Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119901254","display_name":"Jelena Bratuli\u0107","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jelena Bratuli\u0107","raw_affiliation_strings":["University of Freiburg,Department of Computer Science,Germany"],"affiliations":[{"raw_affiliation_string":"University of Freiburg,Department of Computer Science,Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013852560","display_name":"Daniele Cattaneo","orcid":"https://orcid.org/0000-0003-1453-3257"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniele Cattaneo","raw_affiliation_strings":["University of Freiburg,Department of Computer Science,Germany"],"affiliations":[{"raw_affiliation_string":"University of Freiburg,Department of Computer Science,Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070290355","display_name":"Thomas Brox","orcid":"https://orcid.org/0000-0002-6282-8861"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Brox","raw_affiliation_strings":["University of Freiburg,Department of Computer Science,Germany"],"affiliations":[{"raw_affiliation_string":"University of Freiburg,Department of Computer Science,Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039639553","display_name":"Abhinav Valada","orcid":"https://orcid.org/0000-0003-4710-3114"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Abhinav Valada","raw_affiliation_strings":["University of Freiburg,Department of Computer Science,Germany"],"affiliations":[{"raw_affiliation_string":"University of Freiburg,Department of Computer Science,Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5087158861"],"corresponding_institution_ids":["https://openalex.org/I161046081"],"apc_list":null,"apc_paid":null,"fwci":1.2181,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.85432811,"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":"4115","last_page":"4122"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.6772000193595886,"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":0.6772000193595886,"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.12139999866485596,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.05290000140666962,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7465000152587891},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.7143999934196472},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.5569000244140625},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5328999757766724},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.4887999892234802},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.45879998803138733},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4431999921798706},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.4262999892234802},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.38659998774528503}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7764000296592712},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7465000152587891},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.7143999934196472},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6220999956130981},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.5569000244140625},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5328999757766724},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.4887999892234802},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.45879998803138733},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44690001010894775},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4431999921798706},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.4262999892234802},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.38659998774528503},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.36649999022483826},{"id":"https://openalex.org/C136389625","wikidata":"https://www.wikidata.org/wiki/Q334384","display_name":"Supervised learning","level":3,"score":0.36480000615119934},{"id":"https://openalex.org/C59404180","wikidata":"https://www.wikidata.org/wiki/Q17013334","display_name":"Feature learning","level":2,"score":0.35569998621940613},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.3400000035762787},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.3179999887943268},{"id":"https://openalex.org/C170858558","wikidata":"https://www.wikidata.org/wiki/Q1394144","display_name":"Automatic summarization","level":2,"score":0.3125999867916107},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.31049999594688416},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3066999912261963},{"id":"https://openalex.org/C61272859","wikidata":"https://www.wikidata.org/wiki/Q7834031","display_name":"Transferability","level":3,"score":0.26989999413490295},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.267300009727478},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.2653000056743622},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.2644999921321869},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.2515999972820282},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.25110000371932983}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros60139.2025.11247689","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247689","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:freidok.uni-freiburg.de:277767","is_oa":false,"landing_page_url":"https://freidok.uni-freiburg.de/data/277767","pdf_url":null,"source":{"id":"https://openalex.org/S4306401057","display_name":"FreiDok plus (Universit\u00e4tsbibliothek Freiburg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I161046081","host_organization_name":"University of Freiburg","host_organization_lineage":["https://openalex.org/I161046081"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"The 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems. - [Piscataway, NJ], 2025. - 4115-4122, ISBN: 979-8-3315-4393-8","raw_type":"article_in_conference_proceedings"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W2108598243","https://openalex.org/W2340897893","https://openalex.org/W2476548250","https://openalex.org/W2795587607","https://openalex.org/W2963125977","https://openalex.org/W2963351448","https://openalex.org/W2991216808","https://openalex.org/W3035275207","https://openalex.org/W3035574168","https://openalex.org/W3093434340","https://openalex.org/W3145450063","https://openalex.org/W3159481202","https://openalex.org/W3177330511","https://openalex.org/W3202082537","https://openalex.org/W4206778101","https://openalex.org/W4312270234","https://openalex.org/W4312651322","https://openalex.org/W4313128851","https://openalex.org/W4385245566","https://openalex.org/W4385486330","https://openalex.org/W4386065344","https://openalex.org/W4386065407","https://openalex.org/W4386066390","https://openalex.org/W4386071758","https://openalex.org/W4386075580","https://openalex.org/W4386075756","https://openalex.org/W4386075951","https://openalex.org/W4386076097","https://openalex.org/W4386076668","https://openalex.org/W4386076701","https://openalex.org/W4390189960","https://openalex.org/W4390871794","https://openalex.org/W4390874204","https://openalex.org/W4390874324","https://openalex.org/W4390905356","https://openalex.org/W4393149778","https://openalex.org/W4399485289","https://openalex.org/W4399563885","https://openalex.org/W4399768898","https://openalex.org/W4402667891","https://openalex.org/W4402727359","https://openalex.org/W4402727896","https://openalex.org/W4402728160","https://openalex.org/W4402951674","https://openalex.org/W4403488616","https://openalex.org/W4403730362","https://openalex.org/W4405786870","https://openalex.org/W4408519578","https://openalex.org/W4412837243"],"related_works":[],"abstract_inverted_index":{"LiDAR":[0,66,75,121],"semantic":[1],"segmentation":[2,26],"models":[3,58,149],"are":[4,90],"typically":[5],"trained":[6],"from":[7,37],"random":[8],"initialization":[9],"as":[10,59],"universal":[11,45],"pre-training":[12],"is":[13],"hindered":[14],"by":[15,41],"the":[16,33,87,110,129,146],"lack":[17],"of":[18,35,126],"large,":[19],"diverse":[20],"datasets.":[21],"Moreover,":[22],"most":[23],"point":[24],"cloud":[25],"architectures":[27],"incorporate":[28],"custom":[29],"network":[30,112],"layers,":[31],"limiting":[32],"transferability":[34],"advances":[36,43],"vision-based":[38],"architectures.":[39],"Inspired":[40],"recent":[42],"in":[44,117],"foundation":[46],"models,":[47],"we":[48,79,107],"propose":[49],"BALViT,":[50],"a":[51,82,93,118],"novel":[52,83],"approach":[53],"that":[54,135],"leverages":[55],"frozen":[56,94],"vision":[57,111],"amodal":[60],"feature":[61],"encoders":[62],"for":[63],"learning":[64],"strong":[65,119],"encoders.":[67],"Specifically,":[68],"BALViT":[69,127],"incorporates":[70],"both":[71],"range-view":[72,88],"and":[73,131,148],"bird\u2019s-eye-view":[74,98],"encoding":[76,122],"mechanisms,":[77],"which":[78],"combine":[80],"through":[81,92,102],"2D-3D":[84],"adapter.":[85],"While":[86],"features":[89],"processed":[91],"image":[95],"backbone,":[96],"our":[97],"branch":[99],"enhances":[100],"them":[101],"multiple":[103],"cross-attention":[104],"interactions.":[105],"Thereby,":[106],"continuously":[108],"improve":[109],"with":[113],"domain-dependent":[114],"knowledge,":[115],"resulting":[116],"label-efficient":[120],"mechanism.":[123],"Extensive":[124],"evaluations":[125],"on":[128,140],"SemanticKITTI":[130],"nuScenes":[132],"benchmarks":[133],"demonstrate":[134],"it":[136],"outperforms":[137],"state-of-the-art":[138],"methods":[139],"small":[141],"data":[142],"regimes.":[143],"We":[144],"make":[145],"code":[147],"publicly":[150],"available":[151],"at":[152],"http://balvit.cs.uni-freiburg.de.":[153]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}
