{"id":"https://openalex.org/W4391769746","doi":"https://doi.org/10.1109/itsc57777.2023.10422406","title":"PillarDAN: Pillar-based Dual Attention Attention Network for 3D Object Detection with 4D RaDAR","display_name":"PillarDAN: Pillar-based Dual Attention Attention Network for 3D Object Detection with 4D RaDAR","publication_year":2023,"publication_date":"2023-09-24","ids":{"openalex":"https://openalex.org/W4391769746","doi":"https://doi.org/10.1109/itsc57777.2023.10422406"},"language":"en","primary_location":{"id":"doi:10.1109/itsc57777.2023.10422406","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc57777.2023.10422406","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/A5000166596","display_name":"Jingzhong Li","orcid":"https://orcid.org/0000-0001-9868-5404"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jingzhong Li","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University,National Engineering Research Centre for Automotive Power and Intelligent Control,Shanghai,China,200240"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University,National Engineering Research Centre for Automotive Power and Intelligent Control,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101746800","display_name":"Lin Yang","orcid":"https://orcid.org/0000-0002-7114-1842"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lin Yang","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University,National Engineering Research Centre for Automotive Power and Intelligent Control,Shanghai,China,200240"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University,National Engineering Research Centre for Automotive Power and Intelligent Control,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075233759","display_name":"Yuxuan Chen","orcid":"https://orcid.org/0000-0002-5701-920X"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuxuan Chen","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University,National Engineering Research Centre for Automotive Power and Intelligent Control,Shanghai,China,200240"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University,National Engineering Research Centre for Automotive Power and Intelligent Control,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043298205","display_name":"Yixin Yang","orcid":"https://orcid.org/0000-0002-6299-8414"},"institutions":[{"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":["HK"],"is_corresponding":false,"raw_author_name":"Yixin Yang","raw_affiliation_strings":["Hong Kong University of Science and Technology,Department of Computer Science and Engineering,Kowloon,Hong Kong,999077"],"affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology,Department of Computer Science and Engineering,Kowloon,Hong Kong,999077","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115604796","display_name":"Yue Jin","orcid":"https://orcid.org/0000-0003-3291-2584"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Jin","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University,National Engineering Research Centre for Automotive Power and Intelligent Control,Shanghai,China,200240"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University,National Engineering Research Centre for Automotive Power and Intelligent Control,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102616682","display_name":"Kuanta Akiyama","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kuanta Akiyama","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University,National Engineering Research Centre for Automotive Power and Intelligent Control,Shanghai,China,200240"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University,National Engineering Research Centre for Automotive Power and Intelligent Control,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5000166596"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.3711,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.6264482,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1851","last_page":"1857"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9993000030517578,"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":0.9993000030517578,"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/T12702","display_name":"Brain Tumor Detection and Classification","score":0.9894000291824341,"subfield":{"id":"https://openalex.org/subfields/2808","display_name":"Neurology"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.9886000156402588,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/pillar","display_name":"Pillar","score":0.7508544921875},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.7246294021606445},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5968584418296814},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.550197422504425},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5219473242759705},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.44398438930511475},{"id":"https://openalex.org/keywords/radar-imaging","display_name":"Radar imaging","score":0.43974924087524414},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3985769748687744},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3216947019100189},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.24169033765792847},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.18121451139450073},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1613137423992157}],"concepts":[{"id":"https://openalex.org/C105289051","wikidata":"https://www.wikidata.org/wiki/Q1930094","display_name":"Pillar","level":2,"score":0.7508544921875},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.7246294021606445},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5968584418296814},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.550197422504425},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5219473242759705},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.44398438930511475},{"id":"https://openalex.org/C10929652","wikidata":"https://www.wikidata.org/wiki/Q7279985","display_name":"Radar imaging","level":3,"score":0.43974924087524414},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3985769748687744},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3216947019100189},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.24169033765792847},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.18121451139450073},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1613137423992157},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","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":2,"locations":[{"id":"doi:10.1109/itsc57777.2023.10422406","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc57777.2023.10422406","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:1783.1-139342","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-139342","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W2560609797","https://openalex.org/W2897529137","https://openalex.org/W2939308603","https://openalex.org/W2943515156","https://openalex.org/W2949708697","https://openalex.org/W2955058313","https://openalex.org/W2963121255","https://openalex.org/W2963727135","https://openalex.org/W2968296999","https://openalex.org/W2981413347","https://openalex.org/W2981857055","https://openalex.org/W2981949127","https://openalex.org/W2995042771","https://openalex.org/W2999947750","https://openalex.org/W3034314779","https://openalex.org/W3035346742","https://openalex.org/W3035749845","https://openalex.org/W3103179390","https://openalex.org/W3103612787","https://openalex.org/W3207615232","https://openalex.org/W3208941688","https://openalex.org/W3215100485","https://openalex.org/W3216015562","https://openalex.org/W4214777292","https://openalex.org/W4312336128","https://openalex.org/W4312707458","https://openalex.org/W4312894406","https://openalex.org/W4385245566","https://openalex.org/W6631190155","https://openalex.org/W6739778489"],"related_works":["https://openalex.org/W604547544","https://openalex.org/W2495348380","https://openalex.org/W4230293041","https://openalex.org/W2377141674","https://openalex.org/W2352149692","https://openalex.org/W4390351107","https://openalex.org/W2368266917","https://openalex.org/W4313855562","https://openalex.org/W2091422131","https://openalex.org/W2742737769"],"abstract_inverted_index":{"3D":[0,14,68,92,152,185],"object":[1,15,69,93],"detection":[2,16,70,94],"plays":[3],"an":[4,150],"indispensable":[5],"role":[6],"in":[7,184,190],"autonomous":[8],"driving.":[9],"Most":[10],"existing":[11,66],"methods":[12,71],"for":[13],"from":[17,29,119],"point":[18,57,123,145],"clouds":[19],"are":[20],"LiDAR-based.":[21],"However,":[22],"LiDAR":[23],"may":[24],"suffer":[25],"significant":[26],"performance":[27,95,178],"degradation":[28],"poor":[30],"environmental":[31],"conditions,":[32],"such":[33],"as":[34],"rainy":[35],"and":[36,50,61,187],"foggy":[37],"weather.":[38],"Compared":[39],"to":[40,47,76,89,113,133,155],"LiDAR,":[41],"4D":[42,77,97,121],"RaDAR":[43],"is":[44,59,131,181],"more":[45,63],"robust":[46],"various":[48],"environments":[49],"can":[51],"provide":[52],"velocity":[53],"information.":[54],"Nevertheless,":[55],"its":[56],"cloud":[58],"sparser":[60,120],"contains":[62],"noise.":[64],"Thus,":[65],"LiDAR-dependent":[67],"cannot":[72],"be":[73],"effectively":[74],"applied":[75],"Radar.":[78],"To":[79],"cope":[80],"with":[81],"this":[82],"issue,":[83],"we":[84],"propose":[85],"a":[86],"new":[87],"framework":[88],"improve":[90,156],"the":[91,108,115,126,136,142,157,161,169,194],"of":[96,144,160],"Radar,":[98],"dubbed":[99],"Pillar-based":[100],"Dual":[101],"Attention":[102,111,129],"Network":[103],"(PillarDAN).":[104],"Specifically,":[105],"PillarDAN":[106,175],"builds":[107],"Global":[109],"Pillar":[110,127],"(GPA)":[112],"enhance":[114],"feature":[116,164],"extraction":[117],"capability":[118],"Radar":[122],"clouds.":[124,146],"Meanwhile,":[125],"Feature":[128],"(PFA)":[130],"proposed":[132],"focus":[134],"on":[135,168],"truly":[137],"effective":[138,151,177],"information,":[139],"thus":[140],"suppressing":[141],"noise":[143],"We":[147],"also":[148],"present":[149],"coordinate":[153],"embedding":[154],"position":[158],"awareness":[159],"bird's-eye-view":[162],"(BEV)":[163],"map.":[165],"Experimental":[166],"results":[167],"Astyx":[170],"HiRes2019":[171],"dataset":[172],"show":[173],"our":[174],"achieves":[176],"improvement,":[179],"which":[180],"3.28%":[182],"higher":[183,189],"mAP":[186,192],"3.12%":[188],"BEV":[191],"than":[193],"previous":[195],"best":[196],"method.":[197]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-04T09:10:02.777135","created_date":"2025-10-10T00:00:00"}
