{"id":"https://openalex.org/W4391769377","doi":"https://doi.org/10.1109/itsc57777.2023.10422094","title":"A Dynamic Points Removal Benchmark in Point Cloud Maps","display_name":"A Dynamic Points Removal Benchmark in Point Cloud Maps","publication_year":2023,"publication_date":"2023-09-24","ids":{"openalex":"https://openalex.org/W4391769377","doi":"https://doi.org/10.1109/itsc57777.2023.10422094"},"language":"en","primary_location":{"id":"doi:10.1109/itsc57777.2023.10422094","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc57777.2023.10422094","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 26th 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/A5100619311","display_name":"Qingwen Zhang","orcid":"https://orcid.org/0000-0002-9951-4620"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Qingwen Zhang","raw_affiliation_strings":["KTH Royal Institute of Technology,Division of Robotics Perception, and Learning (RPL),Stockholm,Sweden,11428"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology,Division of Robotics Perception, and Learning (RPL),Stockholm,Sweden,11428","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091843764","display_name":"Daniel Duberg","orcid":"https://orcid.org/0000-0003-4815-9689"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Daniel Duberg","raw_affiliation_strings":["KTH Royal Institute of Technology,Division of Robotics Perception, and Learning (RPL),Stockholm,Sweden,11428"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology,Division of Robotics Perception, and Learning (RPL),Stockholm,Sweden,11428","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011973587","display_name":"Ruoyu Geng","orcid":"https://orcid.org/0000-0003-0877-9293"},"institutions":[{"id":"https://openalex.org/I146617529","display_name":"Applied Science and Technology Research Institute","ror":"https://ror.org/03xmkea05","country_code":"CN","type":"facility","lineage":["https://openalex.org/I146617529"]},{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Ruoyu Geng","raw_affiliation_strings":["Robotics Institute, The Hong Kong University of Science and Technology,Hong Kong SAR,China","Robotics Institute, The Hong Kong University of Science and Technology, Hong Kong SAR, China"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, The Hong Kong University of Science and Technology,Hong Kong SAR,China","institution_ids":["https://openalex.org/I146617529","https://openalex.org/I200769079","https://openalex.org/I889458895"]},{"raw_affiliation_string":"Robotics Institute, The Hong Kong University of Science and Technology, Hong Kong SAR, China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061683801","display_name":"Mingkai Jia","orcid":null},"institutions":[{"id":"https://openalex.org/I146617529","display_name":"Applied Science and Technology Research Institute","ror":"https://ror.org/03xmkea05","country_code":"CN","type":"facility","lineage":["https://openalex.org/I146617529"]},{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Mingkai Jia","raw_affiliation_strings":["Robotics Institute, The Hong Kong University of Science and Technology,Hong Kong SAR,China","Robotics Institute, The Hong Kong University of Science and Technology, Hong Kong SAR, China"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, The Hong Kong University of Science and Technology,Hong Kong SAR,China","institution_ids":["https://openalex.org/I146617529","https://openalex.org/I200769079","https://openalex.org/I889458895"]},{"raw_affiliation_string":"Robotics Institute, The Hong Kong University of Science and Technology, Hong Kong SAR, China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032068842","display_name":"Lujia Wang","orcid":"https://orcid.org/0000-0002-6710-4897"},"institutions":[{"id":"https://openalex.org/I146617529","display_name":"Applied Science and Technology Research Institute","ror":"https://ror.org/03xmkea05","country_code":"CN","type":"facility","lineage":["https://openalex.org/I146617529"]},{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Lujia Wang","raw_affiliation_strings":["Robotics Institute, The Hong Kong University of Science and Technology,Hong Kong SAR,China","Robotics Institute, The Hong Kong University of Science and Technology, Hong Kong SAR, China"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, The Hong Kong University of Science and Technology,Hong Kong SAR,China","institution_ids":["https://openalex.org/I146617529","https://openalex.org/I200769079","https://openalex.org/I889458895"]},{"raw_affiliation_string":"Robotics Institute, The Hong Kong University of Science and Technology, Hong Kong SAR, China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028082686","display_name":"Patric Jensfelt","orcid":"https://orcid.org/0000-0002-1170-7162"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Patric Jensfelt","raw_affiliation_strings":["KTH Royal Institute of Technology,Division of Robotics Perception, and Learning (RPL),Stockholm,Sweden,11428"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology,Division of Robotics Perception, and Learning (RPL),Stockholm,Sweden,11428","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100619311"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":3.7686,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.93959587,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"608","last_page":"614"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9858999848365784,"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"}},"topics":[{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9858999848365784,"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":0.98580002784729,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.934499979019165,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.8486394882202148},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6779293417930603},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6645804643630981},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.6478739380836487},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5018906593322754},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2149246633052826},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.15866577625274658},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.15361401438713074},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.14648133516311646},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09006631374359131},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.05892568826675415}],"concepts":[{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.8486394882202148},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6779293417930603},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6645804643630981},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.6478739380836487},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5018906593322754},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2149246633052826},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.15866577625274658},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.15361401438713074},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.14648133516311646},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09006631374359131},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.05892568826675415}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/itsc57777.2023.10422094","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc57777.2023.10422094","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-137131","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-137131","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6000000238418579,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W2152864241","https://openalex.org/W2607968634","https://openalex.org/W2991216808","https://openalex.org/W3102129812","https://openalex.org/W3130044230","https://openalex.org/W3133309409","https://openalex.org/W3171246200","https://openalex.org/W4210423514","https://openalex.org/W4221141829","https://openalex.org/W4285110186","https://openalex.org/W4312359105","https://openalex.org/W4312418574","https://openalex.org/W4312427473","https://openalex.org/W4312580801","https://openalex.org/W4312934050","https://openalex.org/W4321194448","https://openalex.org/W4385834120","https://openalex.org/W6679621375","https://openalex.org/W6801880476","https://openalex.org/W6803376173"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2378211422","https://openalex.org/W2745001401","https://openalex.org/W4321353415","https://openalex.org/W2130974462","https://openalex.org/W972276598","https://openalex.org/W4246352526","https://openalex.org/W2028665553","https://openalex.org/W4244478748","https://openalex.org/W2086519370"],"abstract_inverted_index":{"In":[0],"the":[1,5,15,81,93,111],"field":[2],"of":[3,17,83,103],"robotics,":[4],"point":[6,43],"cloud":[7],"has":[8],"become":[9],"an":[10,57],"essential":[11],"map":[12],"representation.":[13],"From":[14],"perspective":[16],"downstream":[18],"tasks":[19],"like":[20],"localization":[21],"and":[22,51,76,113,125],"global":[23],"path":[24],"planning,":[25],"points":[26,41,68],"corresponding":[27],"to":[28,79,89,116],"dynamic":[29,40,67],"objects":[30],"will":[31],"adversely":[32],"affect":[33],"their":[34],"performance.":[35],"Existing":[36],"methods":[37,75],"for":[38,62,65,122],"removing":[39,66],"in":[42,48,69],"clouds":[44],"often":[45],"lack":[46],"clarity":[47],"comparative":[49],"evaluations":[50],"comprehensive":[52],"analysis.":[53],"Therefore,":[54],"we":[55],"propose":[56],"easy-to-extend":[58],"unified":[59],"benchmarking":[60],"framework":[61],"evaluating":[63],"techniques":[64],"maps.":[70],"It":[71],"includes":[72],"refactored":[73],"state-of-art":[74],"novel":[77],"metrics":[78],"analyze":[80],"limitations":[82],"these":[84,97],"approaches.":[85],"This":[86],"enables":[87],"researchers":[88],"dive":[90],"deep":[91],"into":[92],"underlying":[94],"reasons":[95],"behind":[96],"limitations.":[98],"The":[99],"benchmark":[100],"makes":[101],"use":[102],"several":[104],"datasets":[105,114],"with":[106],"different":[107],"sensor":[108],"types.":[109],"All":[110],"code":[112],"related":[115],"our":[117],"study":[118],"are":[119],"publicly":[120],"available":[121],"further":[123],"development":[124],"utilization.":[126]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":1}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}