{"id":"https://openalex.org/W4408696378","doi":"https://doi.org/10.1109/itsc58415.2024.10919597","title":"Spatial Inception Pillars: Enhancing Perceptual Robustness for 3D Object Detection","display_name":"Spatial Inception Pillars: Enhancing Perceptual Robustness for 3D Object Detection","publication_year":2024,"publication_date":"2024-09-24","ids":{"openalex":"https://openalex.org/W4408696378","doi":"https://doi.org/10.1109/itsc58415.2024.10919597"},"language":"en","primary_location":{"id":"doi:10.1109/itsc58415.2024.10919597","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc58415.2024.10919597","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5033410733","display_name":"Xiao Yang","orcid":"https://orcid.org/0000-0003-1105-6686"},"institutions":[{"id":"https://openalex.org/I76214153","display_name":"Lanzhou University","ror":"https://ror.org/01mkqqe32","country_code":"CN","type":"education","lineage":["https://openalex.org/I76214153"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Yang","raw_affiliation_strings":["School of Information Science and Engineering, Lanzhou University,Lanzhou,China,730000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Engineering, Lanzhou University,Lanzhou,China,730000","institution_ids":["https://openalex.org/I76214153"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101987526","display_name":"Rui Zhao","orcid":"https://orcid.org/0000-0002-9699-9984"},"institutions":[{"id":"https://openalex.org/I76214153","display_name":"Lanzhou University","ror":"https://ror.org/01mkqqe32","country_code":"CN","type":"education","lineage":["https://openalex.org/I76214153"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Zhao","raw_affiliation_strings":["School of Information Science and Engineering, Lanzhou University,Lanzhou,China,730000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Engineering, Lanzhou University,Lanzhou,China,730000","institution_ids":["https://openalex.org/I76214153"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Peng Zhi","orcid":null},"institutions":[{"id":"https://openalex.org/I76214153","display_name":"Lanzhou University","ror":"https://ror.org/01mkqqe32","country_code":"CN","type":"education","lineage":["https://openalex.org/I76214153"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Zhi","raw_affiliation_strings":["School of Information Science and Engineering, Lanzhou University,Lanzhou,China,730000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Engineering, Lanzhou University,Lanzhou,China,730000","institution_ids":["https://openalex.org/I76214153"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100444179","display_name":"Yichi Zhang","orcid":"https://orcid.org/0000-0001-8948-466X"},"institutions":[{"id":"https://openalex.org/I76214153","display_name":"Lanzhou University","ror":"https://ror.org/01mkqqe32","country_code":"CN","type":"education","lineage":["https://openalex.org/I76214153"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"YiChi Zhang","raw_affiliation_strings":["School of Information Science and Engineering, Lanzhou University,Lanzhou,China,730000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Engineering, Lanzhou University,Lanzhou,China,730000","institution_ids":["https://openalex.org/I76214153"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100604365","display_name":"Qingguo Zhou","orcid":"https://orcid.org/0000-0001-8054-5446"},"institutions":[{"id":"https://openalex.org/I76214153","display_name":"Lanzhou University","ror":"https://ror.org/01mkqqe32","country_code":"CN","type":"education","lineage":["https://openalex.org/I76214153"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingguo Zhou","raw_affiliation_strings":["School of Information Science and Engineering, Lanzhou University,Lanzhou,China,730000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Engineering, Lanzhou University,Lanzhou,China,730000","institution_ids":["https://openalex.org/I76214153"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100412434","display_name":"Gang Liu","orcid":"https://orcid.org/0000-0002-3153-7797"},"institutions":[{"id":"https://openalex.org/I76214153","display_name":"Lanzhou University","ror":"https://ror.org/01mkqqe32","country_code":"CN","type":"education","lineage":["https://openalex.org/I76214153"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gang Liu","raw_affiliation_strings":["School of Information Science and Engineering, Lanzhou University,Lanzhou,China,730000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Engineering, Lanzhou University,Lanzhou,China,730000","institution_ids":["https://openalex.org/I76214153"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I76214153"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.49508879,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3473","last_page":"3480"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.9969000220298767,"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"}},"topics":[{"id":"https://openalex.org/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.9969000220298767,"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"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9923999905586243,"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9814000129699707,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.793135404586792},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6604602932929993},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.592274010181427},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5904854536056519},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.488178551197052},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.47591668367385864},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.39845994114875793},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.09953448176383972}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.793135404586792},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6604602932929993},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.592274010181427},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5904854536056519},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.488178551197052},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.47591668367385864},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.39845994114875793},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.09953448176383972},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc58415.2024.10919597","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc58415.2024.10919597","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1659779352","display_name":null,"funder_award_id":"U22A20261,61402210","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W2565639579","https://openalex.org/W2752782242","https://openalex.org/W2888728082","https://openalex.org/W2897529137","https://openalex.org/W2951517617","https://openalex.org/W2963351448","https://openalex.org/W2963727135","https://openalex.org/W2964444661","https://openalex.org/W2968296999","https://openalex.org/W2990763144","https://openalex.org/W3034236957","https://openalex.org/W3034522582","https://openalex.org/W3034971973","https://openalex.org/W3035087309","https://openalex.org/W3035172746","https://openalex.org/W3035346742","https://openalex.org/W3035574168","https://openalex.org/W3113028524","https://openalex.org/W3118341329","https://openalex.org/W3167095230","https://openalex.org/W3177276051","https://openalex.org/W3196204376","https://openalex.org/W3205005447","https://openalex.org/W4221167453","https://openalex.org/W4225865900","https://openalex.org/W4312270460","https://openalex.org/W4312617306","https://openalex.org/W4386075590","https://openalex.org/W4386083117","https://openalex.org/W4389664882","https://openalex.org/W6620707391","https://openalex.org/W6762718338","https://openalex.org/W6789760779","https://openalex.org/W6811230113","https://openalex.org/W6838873368","https://openalex.org/W6846884213"],"related_works":["https://openalex.org/W2770593030","https://openalex.org/W3154990682","https://openalex.org/W2560201613","https://openalex.org/W2171975302","https://openalex.org/W2022352247","https://openalex.org/W2488129135","https://openalex.org/W4312219546","https://openalex.org/W2377538627","https://openalex.org/W2107220315","https://openalex.org/W1589637664"],"abstract_inverted_index":{"As":[0],"a":[1,108,135,147,159,185,202,267],"vital":[2],"aspect":[3],"of":[4,55,89,100,132,155],"three-dimensional":[5,46],"perception":[6],"in":[7,20,53,64,164,174,214],"autonomous":[8],"driving,":[9],"objection":[10],"detection":[11,32,161],"leveraging":[12],"point":[13],"cloud":[14],"data":[15,35],"has":[16],"garnered":[17],"significant":[18],"attention":[19],"recent":[21],"years.":[22],"Efficient":[23],"real-time":[24,59,90,275],"feature":[25,138,143,177,181,223],"representation":[26],"is":[27,232,246],"crucial":[28],"for":[29,179,196],"3D":[30,113],"object":[31,115],"with":[33,70,274],"this":[34,104],"format.":[36],"Currently,":[37],"high-performing":[38],"detectors":[39,69],"offer":[40],"high":[41],"accuracy":[42,94],"due":[43],"to":[44,83,189,248],"the":[45,87,141,152,165,170,175,191,209,215,253],"voxels.":[47],"However,":[48],"they":[49],"often":[50],"fall":[51],"short":[52],"terms":[54],"computational":[56,78],"efficiency":[57],"and":[58,80,110,128,158,183,194,235,245,258,270],"performance,":[60],"limiting":[61],"their":[62,93],"practicality":[63],"real-world":[65],"applications.":[66,91],"In":[67,103],"contrast,":[68],"pillar-based":[71,112,137],"structures":[72],"are":[73,81],"more":[74],"efficient,":[75],"require":[76,241],"fewer":[77],"resources,":[79],"easier":[82],"deploy,":[84],"thereby":[85],"meeting":[86],"demands":[88],"Unfortunately,":[92],"does":[95,239],"not":[96,240],"yet":[97],"reach":[98],"that":[99,150,238,262],"grid-based":[101],"methods.":[102],"paper,":[105],"we":[106,168],"present":[107],"lightweight":[109],"effective":[111],"single-stage":[114],"detector":[116],"named":[117],"\u2018Spatial":[118],"Inception":[119],"Pillars\u2019":[120],"(SIP),":[121],"achieving":[122,228],"an":[123,233],"impressive":[124],"balance":[125],"between":[126],"accu-racy":[127],"efficiency.":[129],"It":[130,231],"consists":[131],"four":[133],"parts:":[134],"powerful":[136],"extraction":[139,144],"encoder,":[140],"spatial":[142,180],"backbone":[145,166],"network,":[146,167],"neck":[148,216],"network":[149,173,212,219],"expands":[151],"receptive":[153,203],"field":[154,204],"multi-scale":[156,222],"features,":[157],"versatile":[160],"head.":[162],"Specifically,":[163],"introduce":[169],"Sparse":[171],"Squeeze-and-Excitation(SE)":[172],"basic":[176,210],"blocks":[178],"enhancement":[182,205],"incorporate":[184],"model":[186],"scaling":[187],"factor":[188],"adjust":[190],"model's":[192],"depth":[193],"width":[195],"different":[197,226],"environmental":[198],"needs.":[199],"We":[200],"propose":[201],"module":[206],"based":[207],"on":[208,252],"inception":[211],"architecture":[213,220],"network.":[217],"The":[218],"utilizes":[221],"information":[224],"at":[225],"stages,":[227],"high-performance":[229],"detection.":[230],"elegant":[234],"efficient":[236],"framework":[237],"overly":[242],"complex":[243],"calculations":[244],"easy":[247],"deploy.":[249],"Extensive":[250],"experiments":[251],"large-scale":[254],"Waymo":[255],"Open":[256],"Dataset":[257,260],"nuScenes":[259],"demonstrate":[261],"SIP":[263],"surpasses":[264],"baselines":[265],"by":[266],"large":[268],"margin":[269],"achieves":[271],"competitive":[272],"performance":[273],"inference":[276],"speed.":[277]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}