{"id":"https://openalex.org/W4308080018","doi":"https://doi.org/10.1109/itsc55140.2022.9922503","title":"Real-time Pseudo-LiDAR 3D object detection with geometric constraints","display_name":"Real-time Pseudo-LiDAR 3D object detection with geometric constraints","publication_year":2022,"publication_date":"2022-10-08","ids":{"openalex":"https://openalex.org/W4308080018","doi":"https://doi.org/10.1109/itsc55140.2022.9922503"},"language":"en","primary_location":{"id":"doi:10.1109/itsc55140.2022.9922503","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9922503","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/A5018486291","display_name":"Changcai Li","orcid":"https://orcid.org/0009-0009-8025-8653"},"institutions":[{"id":"https://openalex.org/I150807315","display_name":"Guangxi University","ror":"https://ror.org/02c9qn167","country_code":"CN","type":"education","lineage":["https://openalex.org/I150807315"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Changcai Li","raw_affiliation_strings":["Guangxi University"],"affiliations":[{"raw_affiliation_string":"Guangxi University","institution_ids":["https://openalex.org/I150807315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112876106","display_name":"Haitao Meng","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Haitao Meng","raw_affiliation_strings":["Technical University of Munich"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100389329","display_name":"Gang Chen","orcid":"https://orcid.org/0000-0003-4234-1359"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gang Chen","raw_affiliation_strings":["Sun Yat-sen University"],"affiliations":[{"raw_affiliation_string":"Sun Yat-sen University","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100336450","display_name":"Long Chen","orcid":"https://orcid.org/0000-0003-4925-0572"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Chen","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences","institution_ids":["https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5018486291"],"corresponding_institution_ids":["https://openalex.org/I150807315"],"apc_list":null,"apc_paid":null,"fwci":0.1806,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.51162127,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"28","issue":null,"first_page":"3298","last_page":"3303"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9983999729156494,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.9123578071594238},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.7934645414352417},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7382421493530273},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6667014956474304},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6192664504051208},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5555037260055542},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.524309515953064},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.432322233915329},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4161338210105896},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4151949882507324},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3073427975177765},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.20811039209365845},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.0899394154548645}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.9123578071594238},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.7934645414352417},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7382421493530273},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6667014956474304},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6192664504051208},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5555037260055542},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.524309515953064},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.432322233915329},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4161338210105896},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4151949882507324},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3073427975177765},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.20811039209365845},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0899394154548645},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc55140.2022.9922503","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9922503","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1772650917","https://openalex.org/W1901129140","https://openalex.org/W2117248802","https://openalex.org/W2150066425","https://openalex.org/W2194775991","https://openalex.org/W2319920447","https://openalex.org/W2555618208","https://openalex.org/W2884585870","https://openalex.org/W2897529137","https://openalex.org/W2949708697","https://openalex.org/W2952813711","https://openalex.org/W2954174912","https://openalex.org/W2962807143","https://openalex.org/W2963400571","https://openalex.org/W2963619659","https://openalex.org/W2963727135","https://openalex.org/W2964062501","https://openalex.org/W2968164956","https://openalex.org/W2968296999","https://openalex.org/W2980467688","https://openalex.org/W2990946490","https://openalex.org/W2996166203","https://openalex.org/W2997558685","https://openalex.org/W3035651586","https://openalex.org/W3035749845","https://openalex.org/W3040090953","https://openalex.org/W3090896893","https://openalex.org/W3114276215","https://openalex.org/W6620707391","https://openalex.org/W6638039622","https://openalex.org/W6639824700","https://openalex.org/W6700264148","https://openalex.org/W6753412334","https://openalex.org/W6754969897","https://openalex.org/W6764514022"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W4281783339","https://openalex.org/W1964041166","https://openalex.org/W4390887692","https://openalex.org/W4390721878"],"abstract_inverted_index":{"Three-dimension":[0],"(3D)":[1],"object":[2,15,152],"detection":[3,16,24,81,181,196],"is":[4,103],"an":[5,94],"essential":[6],"task":[7],"in":[8,146],"autonomous":[9],"driving.":[10],"Although":[11],"recent":[12],"LiDAR-based":[13,175],"3D":[14,80,147,151,195],"techniques":[17],"have":[18],"been":[19],"well-studied":[20],"and":[21,65,88,142,167],"achieve":[22,106],"high":[23,33,56,86,89,178],"accuracy,":[25],"the":[26,69,112,118,121,125,132,137,140,150,185,194,206],"cost":[27],"of":[28,120,128,139,154],"LiDAR":[29],"sensors":[30],"causes":[31],"a":[32,77,163,168],"premium":[34],"for":[35,54,172],"their":[36,55,144],"practical":[37],"implementation.":[38],"Recently":[39],"introduced":[40],"Pseudo-LiDAR":[41,79,180],"based":[42],"methods":[43],"that":[44,189],"utilize":[45],"image":[46],"data":[47],"to":[48,61,105,135,177,205],"detect":[49],"objects":[50,141],"show":[51,188],"great":[52],"prospects":[53],"cost-effectiveness,":[57],"however,":[58],"they":[59],"tend":[60],"be":[62],"computational":[63],"complexity":[64],"can":[66,192],"not":[67],"meet":[68],"realtime":[70],"requirement.":[71],"In":[72],"this":[73],"paper,":[74],"we":[75,92,123,157],"propose":[76],"light-weight":[78],"system":[82,191],"which":[83],"achieves":[84],"both":[85],"accuracy":[87,113],"responsiveness.":[90],"Specifically,":[91],"adopt":[93],"efficient":[95,179],"depth":[96,108],"estimator":[97],"where":[98],"Binary":[99],"Neural":[100],"Networks":[101],"(BNN)":[102],"employed":[104],"timely":[107],"prediction.":[109],"To":[110],"tackle":[111],"degradation":[114],"issue":[115],"caused":[116],"by":[117],"quantitation":[119],"BNNs,":[122],"introduce":[124],"geometric":[126],"constraints":[127],"virtual":[129],"planes":[130],"into":[131],"BNN":[133],"training":[134],"enhance":[136],"completeness":[138],"improve":[143],"representation":[145],"space.":[148],"For":[149],"detector":[153],"our":[155,190],"system,":[156],"provide":[158],"effective":[159],"improving":[160],"schemes":[161],"including":[162],"deviation-aware":[164],"(DA)":[165],"head":[166],"finetuning":[169],"module":[170],"(FM)":[171],"converting":[173],"existing":[174],"detectors":[176],"components.":[182],"Experiments":[183],"on":[184],"KITTI":[186],"benchmark":[187],"conduct":[193],"within":[197],"only":[198],"35":[199],"ms":[200],"while":[201],"achieving":[202],"competitive":[203],"results":[204],"state-of-the-art":[207],"(SOTA)":[208],"algorithms.":[209]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}