{"id":"https://openalex.org/W4408698420","doi":"https://doi.org/10.1109/itsc58415.2024.10919676","title":"Class Prototypical Loss for Enhanced Feature Separation in 3D Object Detection","display_name":"Class Prototypical Loss for Enhanced Feature Separation in 3D Object Detection","publication_year":2024,"publication_date":"2024-09-24","ids":{"openalex":"https://openalex.org/W4408698420","doi":"https://doi.org/10.1109/itsc58415.2024.10919676"},"language":"en","primary_location":{"id":"doi:10.1109/itsc58415.2024.10919676","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc58415.2024.10919676","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":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://pure.tue.nl/ws/files/378664383/Class_Prototypical_Loss_for_Enhanced_Feature_Separation_in_3D_Object_Detection.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103467959","display_name":"Marc Perez","orcid":null},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]},{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Marc Perez","raw_affiliation_strings":["Institut de Robòtica i Informàtica Industrial, CSIC-UPC,Barcelona,Spain"],"affiliations":[{"raw_affiliation_string":"Institut de Robòtica i Informàtica Industrial, CSIC-UPC,Barcelona,Spain","institution_ids":["https://openalex.org/I9617848","https://openalex.org/I4210093282"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041283253","display_name":"Antonio Agudo","orcid":"https://orcid.org/0000-0001-6845-4998"},"institutions":[{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Antonio Agudo","raw_affiliation_strings":["Institut de Robòtica i Informàtica Industrial, CSIC-UPC,Barcelona,Spain"],"affiliations":[{"raw_affiliation_string":"Institut de Robòtica i Informàtica Industrial, CSIC-UPC,Barcelona,Spain","institution_ids":["https://openalex.org/I9617848","https://openalex.org/I4210093282"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024010116","display_name":"Gijs Dubbelman","orcid":"https://orcid.org/0000-0001-6635-3245"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Gijs Dubbelman","raw_affiliation_strings":["Technical University of Eindhoven (TU/e),Eindhoven,Netherlands"],"affiliations":[{"raw_affiliation_string":"Technical University of Eindhoven (TU/e),Eindhoven,Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009464865","display_name":"Pavol Jancura","orcid":"https://orcid.org/0000-0002-9219-5014"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Pavol Jancura","raw_affiliation_strings":["Technical University of Eindhoven (TU/e),Eindhoven,Netherlands"],"affiliations":[{"raw_affiliation_string":"Technical University of Eindhoven (TU/e),Eindhoven,Netherlands","institution_ids":["https://openalex.org/I83019370"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5103467959"],"corresponding_institution_ids":["https://openalex.org/I4210093282","https://openalex.org/I9617848"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.28134575,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3505","last_page":"3512"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11448","display_name":"Face recognition and analysis","score":0.9998000264167786,"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/T11448","display_name":"Face recognition and analysis","score":0.9998000264167786,"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/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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9994999766349792,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6515378355979919},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6183691024780273},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.6152427196502686},{"id":"https://openalex.org/keywords/separation","display_name":"Separation (statistics)","score":0.5933736562728882},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.5476712584495544},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5140403509140015},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.5129818320274353},{"id":"https://openalex.org/keywords/object-class-detection","display_name":"Object-class detection","score":0.5003409385681152},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.49974679946899414},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4486175775527954},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.4401228427886963},{"id":"https://openalex.org/keywords/face-detection","display_name":"Face detection","score":0.12333747744560242},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.12024557590484619},{"id":"https://openalex.org/keywords/facial-recognition-system","display_name":"Facial recognition system","score":0.07533809542655945}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6515378355979919},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6183691024780273},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.6152427196502686},{"id":"https://openalex.org/C2776061190","wikidata":"https://www.wikidata.org/wiki/Q7451805","display_name":"Separation (statistics)","level":2,"score":0.5933736562728882},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.5476712584495544},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5140403509140015},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.5129818320274353},{"id":"https://openalex.org/C71681937","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object-class detection","level":5,"score":0.5003409385681152},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49974679946899414},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4486175775527954},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.4401228427886963},{"id":"https://openalex.org/C4641261","wikidata":"https://www.wikidata.org/wiki/Q11681085","display_name":"Face detection","level":4,"score":0.12333747744560242},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.12024557590484619},{"id":"https://openalex.org/C31510193","wikidata":"https://www.wikidata.org/wiki/Q1192553","display_name":"Facial recognition system","level":3,"score":0.07533809542655945},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/itsc58415.2024.10919676","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc58415.2024.10919676","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"},{"id":"pmh:oai:pure.tue.nl:openaire_cris_publications/0dc9447b-d1da-4a8a-8f27-1420b8e6d824","is_oa":true,"landing_page_url":"https://research.tue.nl/en/publications/0dc9447b-d1da-4a8a-8f27-1420b8e6d824","pdf_url":"https://pure.tue.nl/ws/files/378664383/Class_Prototypical_Loss_for_Enhanced_Feature_Separation_in_3D_Object_Detection.pdf","source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","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":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Perez, M, Agudo, A, Dubbelman, G & Jancura, P 2025, Class Prototypical Loss for Enhanced Feature Separation in 3D Object Detection. in 2024 IEEE 27th International Conference on Intelligent Transportation Systems, ITSC 2024., 10919676, Institute of Electrical and Electronics Engineers, pp. 3505-3512, 27th IEEE International Conference on Intelligent Transportation Systems, ITSC 2024, Edmonton, Canada, 24/09/24. https://doi.org/10.1109/ITSC58415.2024.10919676","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:upcommons.upc.edu:2117/442800","is_oa":true,"landing_page_url":"https://hdl.handle.net/2117/442800","pdf_url":null,"source":{"id":"https://openalex.org/S4210207057","display_name":"QRU Quaderns de Recerca en Urbanisme","issn_l":"2014-9689","issn":["2014-9689","2385-6777"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310322448","host_organization_name":"Q71272178","host_organization_lineage":["https://openalex.org/P4310322448"],"host_organization_lineage_names":["Q71272178"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference report"}],"best_oa_location":{"id":"pmh:oai:pure.tue.nl:openaire_cris_publications/0dc9447b-d1da-4a8a-8f27-1420b8e6d824","is_oa":true,"landing_page_url":"https://research.tue.nl/en/publications/0dc9447b-d1da-4a8a-8f27-1420b8e6d824","pdf_url":"https://pure.tue.nl/ws/files/378664383/Class_Prototypical_Loss_for_Enhanced_Feature_Separation_in_3D_Object_Detection.pdf","source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","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":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Perez, M, Agudo, A, Dubbelman, G & Jancura, P 2025, Class Prototypical Loss for Enhanced Feature Separation in 3D Object Detection. in 2024 IEEE 27th International Conference on Intelligent Transportation Systems, ITSC 2024., 10919676, Institute of Electrical and Electronics Engineers, pp. 3505-3512, 27th IEEE International Conference on Intelligent Transportation Systems, ITSC 2024, Edmonton, Canada, 24/09/24. https://doi.org/10.1109/ITSC58415.2024.10919676","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2262748287","display_name":null,"funder_award_id":"501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G3005324705","display_name":null,"funder_award_id":"501100011033","funder_id":"https://openalex.org/F4320321505","funder_display_name":"Generalitat de Catalunya"},{"id":"https://openalex.org/G3429648993","display_name":null,"funder_award_id":"PID202","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G3480869486","display_name":null,"funder_award_id":"13039","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G3727459686","display_name":null,"funder_award_id":"13039/50110001103","funder_id":"https://openalex.org/F4320315062","funder_display_name":"Ministerio de Ciencia, Innovaci\u00f3n y Universidades"},{"id":"https://openalex.org/G4126322094","display_name":null,"funder_award_id":"01100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G451917667","display_name":null,"funder_award_id":"13039/501100011033","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"},{"id":"https://openalex.org/G5967599077","display_name":null,"funder_award_id":"501100011033","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"},{"id":"https://openalex.org/G661330594","display_name":null,"funder_award_id":"00110","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G6685425346","display_name":null,"funder_award_id":"0011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G7084143925","display_name":null,"funder_award_id":"AEI/10","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G7266728691","display_name":null,"funder_award_id":"13039/501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G8260616629","display_name":null,"funder_award_id":"011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G8497050386","display_name":null,"funder_award_id":"501100011033","funder_id":"https://openalex.org/F4320315062","funder_display_name":"Ministerio de Ciencia, Innovaci\u00f3n y Universidades"},{"id":"https://openalex.org/G8516412140","display_name":null,"funder_award_id":"13039/501100011033","funder_id":"https://openalex.org/F4320315062","funder_display_name":"Ministerio de Ciencia, Innovaci\u00f3n y Universidades"},{"id":"https://openalex.org/G8570012161","display_name":null,"funder_award_id":"unknown","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"}],"funders":[{"id":"https://openalex.org/F4320315062","display_name":"Ministerio de Ciencia, Innovaci\u00f3n y Universidades","ror":null},{"id":"https://openalex.org/F4320321505","display_name":"Generalitat de Catalunya","ror":"https://ror.org/01bg62x04"},{"id":"https://openalex.org/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320335598","display_name":"Agencia Estatal de Investigaci\u00f3n","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4408698420.pdf","grobid_xml":"https://content.openalex.org/works/W4408698420.grobid-xml"},"referenced_works_count":76,"referenced_works":["https://openalex.org/W140822990","https://openalex.org/W2062112832","https://openalex.org/W2187089797","https://openalex.org/W2560609797","https://openalex.org/W2798965597","https://openalex.org/W2897529137","https://openalex.org/W2904693122","https://openalex.org/W2913171473","https://openalex.org/W2963083779","https://openalex.org/W2963182550","https://openalex.org/W2963466847","https://openalex.org/W2963656735","https://openalex.org/W2963721253","https://openalex.org/W2963727135","https://openalex.org/W2968296999","https://openalex.org/W2969985801","https://openalex.org/W2969987486","https://openalex.org/W2988715931","https://openalex.org/W2999575747","https://openalex.org/W3008896913","https://openalex.org/W3031752193","https://openalex.org/W3034314779","https://openalex.org/W3034938706","https://openalex.org/W3035172746","https://openalex.org/W3035574168","https://openalex.org/W3065974826","https://openalex.org/W3107212734","https://openalex.org/W3167095230","https://openalex.org/W3169280296","https://openalex.org/W3175269419","https://openalex.org/W3176709420","https://openalex.org/W3176895448","https://openalex.org/W3180725527","https://openalex.org/W3181852566","https://openalex.org/W3195311297","https://openalex.org/W3213288297","https://openalex.org/W3217775574","https://openalex.org/W4214777292","https://openalex.org/W4296606844","https://openalex.org/W4303439907","https://openalex.org/W4308236039","https://openalex.org/W4310078553","https://openalex.org/W4312916565","https://openalex.org/W4312934050","https://openalex.org/W4382465779","https://openalex.org/W4385280364","https://openalex.org/W4386065738","https://openalex.org/W4386066365","https://openalex.org/W4386075736","https://openalex.org/W4386076253","https://openalex.org/W4386484099","https://openalex.org/W4388052703","https://openalex.org/W4388757371","https://openalex.org/W4390872444","https://openalex.org/W4391422969","https://openalex.org/W6665940201","https://openalex.org/W6682438003","https://openalex.org/W6735013348","https://openalex.org/W6748010250","https://openalex.org/W6757042666","https://openalex.org/W6759395528","https://openalex.org/W6761849836","https://openalex.org/W6767379092","https://openalex.org/W6769571200","https://openalex.org/W6773934161","https://openalex.org/W6780673685","https://openalex.org/W6796810887","https://openalex.org/W6797694647","https://openalex.org/W6803556390","https://openalex.org/W6843223735","https://openalex.org/W6846087220","https://openalex.org/W6847076481","https://openalex.org/W6851079464","https://openalex.org/W6853347468","https://openalex.org/W6858132718","https://openalex.org/W6861085718"],"related_works":["https://openalex.org/W2901758161","https://openalex.org/W4205668735","https://openalex.org/W3204852000","https://openalex.org/W3209429418","https://openalex.org/W4297540035","https://openalex.org/W3126664501","https://openalex.org/W4312834249","https://openalex.org/W2997780656","https://openalex.org/W3013015374","https://openalex.org/W4366374902"],"abstract_inverted_index":{"We":[0,139],"present":[1],"a":[2,91],"novel":[3,92],"loss":[4,115,144],"to":[5,33,108,124,145,165],"increase":[6],"the":[7,43,47,52,56,69,74,79,98,102,109,126,133,137,146,166,172],"class":[8,31,66,93,111],"separation":[9,129],"of":[10,29,46,55,73,82,105,136,153],"learned":[11,25],"features":[12],"for":[13,158],"3D":[14],"object":[15,57,121],"detection":[16,122],"from":[17,78,101],"lidar":[18],"point":[19],"clouds.":[20],"To":[21,61],"correctly":[22],"classify":[23],"objects,":[24],"object-level":[26,127],"feature":[27,44,75,103,128],"distributions":[28,45],"each":[30,83],"need":[32],"be":[34],"distinct.":[35],"Therefore,":[36],"we":[37,41,64,86,150],"hypothesize":[38],"that":[39],"if":[40],"make":[42],"classes":[48,131],"more":[49],"separated,":[50],"then":[51,117],"overall":[53,134],"performance":[54,135],"detector":[58],"will":[59],"improve.":[60],"this":[62,143],"end,":[63],"calculate":[65],"prototypes":[67,89],"as":[68,97],"mean":[70],"and":[71,132,155,160],"covariance":[72],"vectors":[76],"extracted":[77],"annotated":[80,106],"objects":[81,107],"class.":[84],"Then,":[85],"exploit":[87],"these":[88],"with":[90,119],"prototypical":[94],"loss,":[95],"defined":[96],"Mahalanobis":[99],"distance":[100],"vector":[104],"corresponding":[110],"prototype.":[112],"This":[113],"auxiliary":[114],"is":[116],"integrated":[118],"other":[120],"losses":[123],"improve":[125],"between":[130],"detector.":[138],"show":[140],"results":[141],"applying":[142],"NuScenes":[147],"dataset":[148],"where":[149],"get":[151],"improvements":[152],"+3.85%":[154],"+1.76%":[156],"mAP":[157],"1":[159],"10":[161],"frames,":[162],"respectively,":[163],"compared":[164],"baseline":[167],"Centerpoint":[168],"detector,":[169],"while":[170],"keeping":[171],"same":[173],"inference":[174],"computational":[175],"cost.":[176]},"counts_by_year":[],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-03-21T00:00:00"}