{"id":"https://openalex.org/W2613947156","doi":"https://doi.org/10.1109/lgrs.2017.2674799","title":"Instant Object Detection in Lidar Point Clouds","display_name":"Instant Object Detection in Lidar Point Clouds","publication_year":2017,"publication_date":"2017-05-15","ids":{"openalex":"https://openalex.org/W2613947156","doi":"https://doi.org/10.1109/lgrs.2017.2674799","mag":"2613947156"},"language":"en","primary_location":{"id":"doi:10.1109/lgrs.2017.2674799","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lgrs.2017.2674799","pdf_url":null,"source":{"id":"https://openalex.org/S126920919","display_name":"IEEE Geoscience and Remote Sensing Letters","issn_l":"1545-598X","issn":["1545-598X","1558-0571"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Geoscience and Remote Sensing Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://eprints.sztaki.hu/9081/1/grsl_banbbcs_Final.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5062852409","display_name":"Attila B\u00f6rcs","orcid":"https://orcid.org/0000-0002-9376-985X"},"institutions":[{"id":"https://openalex.org/I29770179","display_name":"Budapest University of Technology and Economics","ror":"https://ror.org/02w42ss30","country_code":"HU","type":"education","lineage":["https://openalex.org/I29770179"]},{"id":"https://openalex.org/I4210117195","display_name":"HUN-REN Institute for Computer Science and Control","ror":"https://ror.org/0249v7n71","country_code":"HU","type":"facility","lineage":["https://openalex.org/I4210117195","https://openalex.org/I4387152226"]},{"id":"https://openalex.org/I7597260","display_name":"Hungarian Academy of Sciences","ror":"https://ror.org/02ks8qq67","country_code":"HU","type":"government","lineage":["https://openalex.org/I7597260"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"Attila Borcs","raw_affiliation_strings":["Department of Control Engineering and Information Technology, Budapest University of Technology and Economics, Budapest, Hungary","Machine Perception Research Laboratory, Institute for Computer Science and Control, Hungarian Academy of Sciences, Budapest, Hungary"],"raw_orcid":"https://orcid.org/0000-0002-9376-985X","affiliations":[{"raw_affiliation_string":"Department of Control Engineering and Information Technology, Budapest University of Technology and Economics, Budapest, Hungary","institution_ids":["https://openalex.org/I29770179"]},{"raw_affiliation_string":"Machine Perception Research Laboratory, Institute for Computer Science and Control, Hungarian Academy of Sciences, Budapest, Hungary","institution_ids":["https://openalex.org/I4210117195","https://openalex.org/I7597260"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037066482","display_name":"Bal\u00e1zs Nagy","orcid":"https://orcid.org/0000-0003-0338-863X"},"institutions":[{"id":"https://openalex.org/I31882830","display_name":"P\u00e1zm\u00e1ny P\u00e9ter Catholic University","ror":"https://ror.org/05v9kya57","country_code":"HU","type":"education","lineage":["https://openalex.org/I31882830"]},{"id":"https://openalex.org/I4210117195","display_name":"HUN-REN Institute for Computer Science and Control","ror":"https://ror.org/0249v7n71","country_code":"HU","type":"facility","lineage":["https://openalex.org/I4210117195","https://openalex.org/I4387152226"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"Balazs Nagy","raw_affiliation_strings":["Machine Perception Research, MTASZTAKI, Budapest, Hungary","P\u00e9ter P\u00e1zm\u00e1ny Catholic University, Budapest, Hungary"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Machine Perception Research, MTASZTAKI, Budapest, Hungary","institution_ids":["https://openalex.org/I4210117195"]},{"raw_affiliation_string":"P\u00e9ter P\u00e1zm\u00e1ny Catholic University, Budapest, Hungary","institution_ids":["https://openalex.org/I31882830"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044638075","display_name":"Csaba Benedek","orcid":"https://orcid.org/0000-0003-3203-0741"},"institutions":[{"id":"https://openalex.org/I31882830","display_name":"P\u00e1zm\u00e1ny P\u00e9ter Catholic University","ror":"https://ror.org/05v9kya57","country_code":"HU","type":"education","lineage":["https://openalex.org/I31882830"]},{"id":"https://openalex.org/I4210117195","display_name":"HUN-REN Institute for Computer Science and Control","ror":"https://ror.org/0249v7n71","country_code":"HU","type":"facility","lineage":["https://openalex.org/I4210117195","https://openalex.org/I4387152226"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"Csaba Benedek","raw_affiliation_strings":["Machine Perception Research, MTASZTAKI, Budapest, Hungary","P\u00e9ter P\u00e1zm\u00e1ny Catholic University, Budapest, Hungary"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Machine Perception Research, MTASZTAKI, Budapest, Hungary","institution_ids":["https://openalex.org/I4210117195"]},{"raw_affiliation_string":"P\u00e9ter P\u00e1zm\u00e1ny Catholic University, Budapest, Hungary","institution_ids":["https://openalex.org/I31882830"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.2395,"has_fulltext":true,"cited_by_count":87,"citation_normalized_percentile":{"value":0.94820237,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"14","issue":"7","first_page":"992","last_page":"996"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9998999834060669,"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":0.9998999834060669,"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9993000030517578,"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"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9886000156402588,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/lidar","display_name":"Lidar","score":0.8856220245361328},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.8011109828948975},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7726248502731323},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6676182746887207},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6084213852882385},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.599696934223175},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.5313528180122375},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4897937774658203},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.426835298538208},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.41179677844047546},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3513786792755127},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3506358861923218},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.20941439270973206},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.0979936420917511}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8856220245361328},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8011109828948975},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7726248502731323},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6676182746887207},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6084213852882385},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.599696934223175},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.5313528180122375},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4897937774658203},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.426835298538208},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.41179677844047546},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3513786792755127},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3506358861923218},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.20941439270973206},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0979936420917511},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lgrs.2017.2674799","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lgrs.2017.2674799","pdf_url":null,"source":{"id":"https://openalex.org/S126920919","display_name":"IEEE Geoscience and Remote Sensing Letters","issn_l":"1545-598X","issn":["1545-598X","1558-0571"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Geoscience and Remote Sensing Letters","raw_type":"journal-article"},{"id":"pmh:oai:eprints.sztaki.hu:9081","is_oa":true,"landing_page_url":"http://eprints.sztaki.hu/9081/","pdf_url":"https://eprints.sztaki.hu/9081/1/grsl_banbbcs_Final.pdf","source":{"id":"https://openalex.org/S4306401907","display_name":"SZTAKI Publication Repository (Hungarian Academy of Sciences)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I7597260","host_organization_name":"Hungarian Academy of Sciences","host_organization_lineage":["https://openalex.org/I7597260"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ISI Article"}],"best_oa_location":{"id":"pmh:oai:eprints.sztaki.hu:9081","is_oa":true,"landing_page_url":"http://eprints.sztaki.hu/9081/","pdf_url":"https://eprints.sztaki.hu/9081/1/grsl_banbbcs_Final.pdf","source":{"id":"https://openalex.org/S4306401907","display_name":"SZTAKI Publication Repository (Hungarian Academy of Sciences)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I7597260","host_organization_name":"Hungarian Academy of Sciences","host_organization_lineage":["https://openalex.org/I7597260"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ISI Article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.8399999737739563,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G6661842556","display_name":null,"funder_award_id":"NKFIA K-120233","funder_id":"https://openalex.org/F4320321994","funder_display_name":"Hungarian Scientific Research Fund"}],"funders":[{"id":"https://openalex.org/F4320321994","display_name":"Hungarian Scientific Research Fund","ror":"https://ror.org/00v349e63"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2613947156.pdf","grobid_xml":"https://content.openalex.org/works/W2613947156.grobid-xml"},"referenced_works_count":15,"referenced_works":["https://openalex.org/W1606347560","https://openalex.org/W1994114209","https://openalex.org/W2033943689","https://openalex.org/W2050690116","https://openalex.org/W2052794186","https://openalex.org/W2127004595","https://openalex.org/W2129091674","https://openalex.org/W2150066425","https://openalex.org/W2152864241","https://openalex.org/W2154458843","https://openalex.org/W2291440935","https://openalex.org/W2293349265","https://openalex.org/W2591162375","https://openalex.org/W6636358008","https://openalex.org/W6734334479"],"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/W3188333020","https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W2969228573","https://openalex.org/W2963690996"],"abstract_inverted_index":{"In":[0],"this":[1],"letter,":[2],"we":[3,39,68,94,116,136],"present":[4],"a":[5,34,56,131],"new":[6],"approach":[7],"for":[8,61,104],"object":[9,122],"classification":[10,129,139],"in":[11,47,153],"continuously":[12],"streamed":[13],"Lidar":[14,155],"point":[15,29,71],"clouds":[16],"collected":[17],"from":[18,120,161],"urban":[19,65,113,163],"areas.":[20],"The":[21],"input":[22],"of":[23,50,75,108],"our":[24,89,151],"framework":[25],"is":[26],"raw":[27],"3-D":[28,64],"cloud":[30,72],"sequences":[31],"captured":[32,160],"by":[33,130],"Velodyne":[35],"HDL-64":[36],"Lidar,":[37],"and":[38,45,82,124],"aim":[40],"to":[41],"extract":[42],"all":[43],"vehicles":[44],"pedestrians":[46],"the":[48,51,70,101,121,138,144],"neighborhood":[49],"moving":[52],"sensor.":[53],"We":[54,149],"propose":[55],"complete":[57],"pipeline":[58],"developed":[59],"especially":[60],"distinguishing":[62],"outdoor":[63],"objects.":[66,114],"First,":[67],"segment":[69],"into":[73],"regions":[74],"ground,":[76],"short":[77],"objects":[78,84,159],"(i.e.,":[79],"low":[80],"foreground),":[81],"tall":[83],"(high":[85],"foreground).":[86],"Then,":[87],"using":[88],"novel":[90],"two-layer":[91],"grid":[92],"structure,":[93],"perform":[95],"efficient":[96],"connected":[97],"component":[98],"analysis":[99],"on":[100],"foreground":[102],"regions,":[103],"producing":[105],"distinct":[106],"groups":[107],"points,":[109],"which":[110],"represent":[111],"different":[112,162],"Next,":[115],"create":[117],"depth":[118],"images":[119],"candidates,":[123],"apply":[125],"an":[126],"appearance-based":[127],"preliminary":[128],"convolutional":[132],"neural":[133],"network.":[134],"Finally,":[135],"refine":[137],"with":[140],"contextual":[141],"features":[142],"considering":[143],"possible":[145],"expected":[146],"scene":[147],"topologies.":[148],"tested":[150],"algorithm":[152],"real":[154],"measurements,":[156],"containing":[157],"1485":[158],"scenarios.":[164]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":17},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":15},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-17T09:13:05.818461","created_date":"2025-10-10T00:00:00"}