{"id":"https://openalex.org/W3210282530","doi":"https://doi.org/10.1109/iv48863.2021.9575694","title":"PillarSegNet: Pillar-based Semantic Grid Map Estimation using Sparse LiDAR Data","display_name":"PillarSegNet: Pillar-based Semantic Grid Map Estimation using Sparse LiDAR Data","publication_year":2021,"publication_date":"2021-07-11","ids":{"openalex":"https://openalex.org/W3210282530","doi":"https://doi.org/10.1109/iv48863.2021.9575694","mag":"3210282530"},"language":"en","primary_location":{"id":"doi:10.1109/iv48863.2021.9575694","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv48863.2021.9575694","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE Intelligent Vehicles Symposium (IV)","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/A5019422587","display_name":"Juncong Fei","orcid":"https://orcid.org/0000-0001-7213-0136"},"institutions":[{"id":"https://openalex.org/I2803021693","display_name":"Steinbeis Foundation","ror":"https://ror.org/0184gbk60","country_code":"DE","type":"other","lineage":["https://openalex.org/I2803021693"]},{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Juncong Fei","raw_affiliation_strings":["Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany","Stellantis, Opel Automobile GmbH, R&#x00FC;sselsheim am Main, Germany","sselsheim am Main, Germany","Stellantis, Opel Automobile GmbH, R&#x00FC"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Stellantis, Opel Automobile GmbH, R&#x00FC;sselsheim am Main, Germany","institution_ids":["https://openalex.org/I2803021693"]},{"raw_affiliation_string":"sselsheim am Main, Germany","institution_ids":[]},{"raw_affiliation_string":"Stellantis, Opel Automobile GmbH, R&#x00FC","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017521271","display_name":"Kunyu Peng","orcid":"https://orcid.org/0000-0002-5419-9292"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kunyu Peng","raw_affiliation_strings":["Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022324613","display_name":"Philipp Heidenreich","orcid":"https://orcid.org/0000-0002-5906-7125"},"institutions":[{"id":"https://openalex.org/I2803021693","display_name":"Steinbeis Foundation","ror":"https://ror.org/0184gbk60","country_code":"DE","type":"other","lineage":["https://openalex.org/I2803021693"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Philipp Heidenreich","raw_affiliation_strings":["Stellantis, Opel Automobile GmbH, R&#x00FC;sselsheim am Main, Germany","sselsheim am Main, Germany","Stellantis, Opel Automobile GmbH, R&#x00FC"],"affiliations":[{"raw_affiliation_string":"Stellantis, Opel Automobile GmbH, R&#x00FC;sselsheim am Main, Germany","institution_ids":["https://openalex.org/I2803021693"]},{"raw_affiliation_string":"sselsheim am Main, Germany","institution_ids":[]},{"raw_affiliation_string":"Stellantis, Opel Automobile GmbH, R&#x00FC","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062955059","display_name":"Frank Bieder","orcid":"https://orcid.org/0009-0007-1178-4487"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Frank Bieder","raw_affiliation_strings":["Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091574711","display_name":"Christoph Stiller","orcid":"https://orcid.org/0000-0003-4165-2075"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christoph Stiller","raw_affiliation_strings":["Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5019422587"],"corresponding_institution_ids":["https://openalex.org/I102335020","https://openalex.org/I2803021693"],"apc_list":null,"apc_paid":null,"fwci":10.1991,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.98021189,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"838","last_page":"844"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9980000257492065,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9980000257492065,"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/T13282","display_name":"Automated Road and Building Extraction","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9940999746322632,"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/lidar","display_name":"Lidar","score":0.7922121286392212},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7219653129577637},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5861238241195679},{"id":"https://openalex.org/keywords/pillar","display_name":"Pillar","score":0.5618403553962708},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.4031234383583069},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3701455891132355},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.34625673294067383},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.1929912269115448},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.07159054279327393},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.054367899894714355}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7922121286392212},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7219653129577637},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5861238241195679},{"id":"https://openalex.org/C105289051","wikidata":"https://www.wikidata.org/wiki/Q1930094","display_name":"Pillar","level":2,"score":0.5618403553962708},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.4031234383583069},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3701455891132355},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.34625673294067383},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.1929912269115448},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.07159054279327393},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.054367899894714355},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv48863.2021.9575694","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv48863.2021.9575694","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8500000238418579,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320323803","display_name":"Bundesministerium f\u00fcr Wirtschaft und Energie","ror":"https://ror.org/02vgg2808"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1532701078","https://openalex.org/W1901129140","https://openalex.org/W1903029394","https://openalex.org/W1999050017","https://openalex.org/W2037227137","https://openalex.org/W2150066425","https://openalex.org/W2560609797","https://openalex.org/W2963647876","https://openalex.org/W2963727135","https://openalex.org/W2964121744","https://openalex.org/W2964309882","https://openalex.org/W2968296999","https://openalex.org/W2991216808","https://openalex.org/W3003437478","https://openalex.org/W3034239557","https://openalex.org/W3080432947","https://openalex.org/W3082486589","https://openalex.org/W3087774910","https://openalex.org/W3091488231","https://openalex.org/W3119796455","https://openalex.org/W3121124540","https://openalex.org/W6631190155","https://openalex.org/W6631963404","https://openalex.org/W6639824700","https://openalex.org/W6748481559","https://openalex.org/W6763422710","https://openalex.org/W6777288112","https://openalex.org/W6781732762","https://openalex.org/W6782411912","https://openalex.org/W6783040145","https://openalex.org/W6788062607"],"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/W2351984678","https://openalex.org/W2140032575","https://openalex.org/W2011860471","https://openalex.org/W2012196540","https://openalex.org/W3011451421"],"abstract_inverted_index":{"Semantic":[0],"understanding":[1],"of":[2,14,24,128],"the":[3,15,19,41,76,87,105,118,133],"surrounding":[4],"environment":[5],"is":[6,109],"essential":[7],"for":[8,40],"automated":[9],"vehicles.":[10],"The":[11],"recent":[12],"publication":[13],"SemanticKITTI":[16,119],"dataset":[17,120],"stimulates":[18],"research":[20],"on":[21,117],"semantic":[22,38,56,84],"segmentation":[23,85],"LiDAR":[25,44],"point":[26,78],"clouds":[27],"in":[28,86],"urban":[29],"scenarios.":[30],"While":[31],"most":[32],"existing":[33],"approaches":[34],"predict":[35],"sparse":[36,42,99],"pointwise":[37],"classes":[39],"input":[43],"scan,":[45],"we":[46,96],"propose":[47],"PillarSegNet":[48,68,123],"to":[49,52,61,71],"be":[50],"able":[51],"output":[53],"a":[54,62,125],"dense":[55,101,106],"grid":[57,65,135],"map.":[58],"In":[59],"contrast":[60],"previously":[63],"proposed":[64],"map":[66,136],"method,":[67],"uses":[69],"PointNet":[70],"learn":[72],"features":[73],"directly":[74],"from":[75,111],"3D":[77],"cloud":[79],"and":[80,92,100],"then":[81],"conducts":[82],"2D":[83],"top":[88],"view.":[89],"To":[90],"train":[91],"evaluate":[93],"our":[94],"approach,":[95],"use":[97],"both":[98],"ground":[102,107],"truth,":[103],"where":[104],"truth":[108],"obtained":[110],"multiple":[112],"superimposed":[113],"scans.":[114],"Experimental":[115],"results":[116],"show":[121],"that":[122],"achieves":[124],"performance":[126],"gain":[127],"about":[129],"10&#x0025;":[130],"mIoU":[131],"over":[132],"state-of-the-art":[134],"method.":[137]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
