{"id":"https://openalex.org/W4308080239","doi":"https://doi.org/10.1109/itsc55140.2022.9922229","title":"Semantic-enhanced Graph Voxelization for Pillar-based 3D Detection from Point Clouds","display_name":"Semantic-enhanced Graph Voxelization for Pillar-based 3D Detection from Point Clouds","publication_year":2022,"publication_date":"2022-10-08","ids":{"openalex":"https://openalex.org/W4308080239","doi":"https://doi.org/10.1109/itsc55140.2022.9922229"},"language":"en","primary_location":{"id":"doi:10.1109/itsc55140.2022.9922229","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9922229","pdf_url":null,"source":{"id":"https://openalex.org/S4363607737","display_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","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":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","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/A5043336332","display_name":"Yonglin Tian","orcid":"https://orcid.org/0000-0003-1911-5791"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yonglin Tian","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences,State Key Laboratory for Management and Control of Complex Systems,Beijing,China,100190"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences,State Key Laboratory for Management and Control of Complex Systems,Beijing,China,100190","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112719601","display_name":"Xiao Wang","orcid":"https://orcid.org/0000-0002-0008-0659"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Wang","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences,State Key Laboratory for Management and Control of Complex Systems,Beijing,China,100190"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences,State Key Laboratory for Management and Control of Complex Systems,Beijing,China,100190","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025886241","display_name":"Yu Shen","orcid":"https://orcid.org/0000-0001-5601-0572"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Shen","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences,State Key Laboratory for Management and Control of Complex Systems,Beijing,China,100190"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences,State Key Laboratory for Management and Control of Complex Systems,Beijing,China,100190","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100420958","display_name":"Yuhang Liu","orcid":"https://orcid.org/0000-0002-7202-0700"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuhang Liu","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences,State Key Laboratory for Management and Control of Complex Systems,Beijing,China,100190"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences,State Key Laboratory for Management and Control of Complex Systems,Beijing,China,100190","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100376572","display_name":"Zilei Wang","orcid":"https://orcid.org/0000-0003-1822-3731"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zilei Wang","raw_affiliation_strings":["University of Science and Technology of China,National Engineering Laboratory for Brain-inspired Intelligence Technology and Application (NEL-BITA),Hefei,China,230027"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,National Engineering Laboratory for Brain-inspired Intelligence Technology and Application (NEL-BITA),Hefei,China,230027","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113600509","display_name":"Fei\u2010Yue Wang","orcid":"https://orcid.org/0000-0001-9185-3989"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei-Yue Wang","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences,State Key Laboratory for Management and Control of Complex Systems,Beijing,China,100190"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences,State Key Laboratory for Management and Control of Complex Systems,Beijing,China,100190","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5043336332"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"],"apc_list":null,"apc_paid":null,"fwci":0.1199,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.42029089,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"310","last_page":"315"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9997000098228455,"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":0.9997000098228455,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental 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":0.9969000220298767,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7611916065216064},{"id":"https://openalex.org/keywords/pillar","display_name":"Pillar","score":0.6627908945083618},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.598919153213501},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5618457198143005},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5239401459693909},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5200755000114441},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.49892091751098633},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4637698829174042},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.46367689967155457},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4458092153072357},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2713433504104614},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.13087165355682373},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.12485191226005554},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10611966252326965},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10498422384262085}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7611916065216064},{"id":"https://openalex.org/C105289051","wikidata":"https://www.wikidata.org/wiki/Q1930094","display_name":"Pillar","level":2,"score":0.6627908945083618},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.598919153213501},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5618457198143005},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5239401459693909},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5200755000114441},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.49892091751098633},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4637698829174042},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.46367689967155457},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4458092153072357},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2713433504104614},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.13087165355682373},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12485191226005554},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10611966252326965},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10498422384262085},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc55140.2022.9922229","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9922229","pdf_url":null,"source":{"id":"https://openalex.org/S4363607737","display_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","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":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W2184393491","https://openalex.org/W2555618208","https://openalex.org/W2560609797","https://openalex.org/W2738419683","https://openalex.org/W2897529137","https://openalex.org/W2923088732","https://openalex.org/W2949708697","https://openalex.org/W2951517617","https://openalex.org/W2960731517","https://openalex.org/W2963120444","https://openalex.org/W2963323244","https://openalex.org/W2963351448","https://openalex.org/W2963400571","https://openalex.org/W2963438049","https://openalex.org/W2963587345","https://openalex.org/W2963727135","https://openalex.org/W2964062501","https://openalex.org/W2968296999","https://openalex.org/W2980858786","https://openalex.org/W2981949127","https://openalex.org/W2982363097","https://openalex.org/W2997814983","https://openalex.org/W3008105217","https://openalex.org/W3021272849","https://openalex.org/W3028190729","https://openalex.org/W3034236957","https://openalex.org/W3036513648","https://openalex.org/W3038625304","https://openalex.org/W3043357436","https://openalex.org/W3043928558","https://openalex.org/W3090763579","https://openalex.org/W3096244810","https://openalex.org/W3113028524","https://openalex.org/W3117804044","https://openalex.org/W3136022415","https://openalex.org/W3154570906","https://openalex.org/W3160534675","https://openalex.org/W3160962507","https://openalex.org/W3167539120","https://openalex.org/W3183449602","https://openalex.org/W3185790437","https://openalex.org/W3208394352","https://openalex.org/W6686211706","https://openalex.org/W6754918364","https://openalex.org/W6763422710","https://openalex.org/W6765598423","https://openalex.org/W6778129325","https://openalex.org/W6781088608","https://openalex.org/W6793435452","https://openalex.org/W6798592794"],"related_works":["https://openalex.org/W2517104666","https://openalex.org/W1669643531","https://openalex.org/W2134924024","https://openalex.org/W2039154422","https://openalex.org/W2008656436","https://openalex.org/W2182382398","https://openalex.org/W2005437358","https://openalex.org/W2122581818","https://openalex.org/W2023558673","https://openalex.org/W3169001153"],"abstract_inverted_index":{"Pillar-based":[0],"3D":[1,51,166],"detection":[2,52,167],"simplifies":[3],"the":[4,15,27,37,76,81,105,141,145,148,153],"processing":[5],"pipelines":[6],"of":[7,32,39,78,83,104,147],"feature":[8,70],"extraction":[9,71],"for":[10,115,172],"irregular":[11],"point":[12,33,109],"clouds.":[13],"However,":[14],"rigid":[16],"voxelization":[17,65,91],"adopted":[18,121],"by":[19,122,130],"pillar-based":[20,69],"methods,":[21],"inevitably":[22],"and":[23,80,126,160,174],"irreversibly,":[24],"cuts":[25],"off":[26],"direct":[28],"connection":[29],"between":[30,107],"plenty":[31],"pairs,":[34],"thus":[35],"hindering":[36],"modeling":[38,103],"local":[40,99],"structures.":[41],"Besides,":[42],"it":[43],"is":[44,93,120],"difficult":[45],"to":[46,67,95],"handle":[47],"intractable":[48],"situations":[49],"in":[50,165],"using":[53],"structural":[54],"information":[55],"alone.":[56],"In":[57],"this":[58],"paper,":[59],"we":[60],"propose":[61],"a":[62,89,133],"semantic-enhanced":[63],"graph":[64],"method":[66,92,156],"improve":[68],"from":[72],"two":[73],"aspects,":[74],"i.e.,":[75],"construction":[77],"pillars":[79],"learning":[82,123],"pillar-level":[84],"features.":[85],"For":[86],"pillar":[87],"construction,":[88],"novel":[90],"proposed":[94,149],"capture":[96],"more":[97],"sufficient":[98],"structures":[100],"with":[101,132,152],"graph-based":[102],"relationships":[106],"adjacent":[108],"pairs.":[110],"To":[111],"learn":[112],"representative":[113],"features":[114],"each":[116],"pillar,":[117],"semantic":[118],"enhancement":[119],"context":[124],"awareness":[125,128],"class":[127],"pixel":[129,131],"front-view-based":[134],"segmentation":[135],"branch.":[136],"Extensive":[137],"experiments":[138],"conducted":[139],"on":[140,168],"KITTI":[142,169],"dataset":[143],"demonstrate":[144],"effectiveness":[146],"method.":[150],"Compared":[151],"baseline,":[154],"our":[155],"achieves":[157],"2.81":[158],"points":[159,162],"2.65":[161],"higher":[163],"performance":[164],"test":[170],"set":[171],"cars":[173],"cyclists":[175],"individually.":[176]},"counts_by_year":[{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
