{"id":"https://openalex.org/W3129618687","doi":"https://doi.org/10.1109/lra.2021.3060405","title":"Panoster: End-to-end Panoptic Segmentation of LiDAR Point Clouds","display_name":"Panoster: End-to-end Panoptic Segmentation of LiDAR Point Clouds","publication_year":null,"publication_date":null,"ids":{"openalex":"https://openalex.org/W3129618687","doi":"https://doi.org/10.1109/lra.2021.3060405","mag":"3129618687"},"language":"en","primary_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1637915","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1637915","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"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":"","raw_type":"article"},"type":"article","indexed_in":[],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://mediatum.ub.tum.de/1637915","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5000701918","display_name":"Stefano Gasperini","orcid":"https://orcid.org/0000-0002-7841-1569"},"institutions":[{"id":"https://openalex.org/I4210156768","display_name":"BMW Group (Germany)","ror":"https://ror.org/044kkbh92","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210156768"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Stefano Gasperini; Mohammad-Ali Nikouei Mahani; Alvaro Marcos-Ramiro; Nassir Navab; Federico Tombari","raw_affiliation_strings":["BMW Group, M\u00fcnchen, Germany","Faculty of Computer Science, Technische Universit\u00e4t M\u00fcnchen, Garching bei M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"BMW Group, M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I4210156768"]},{"raw_affiliation_string":"Faculty of Computer Science, Technische Universit\u00e4t M\u00fcnchen, Garching bei M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5000701918"],"corresponding_institution_ids":["https://openalex.org/I4210156768","https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":69,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9962999820709229,"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/segmentation","display_name":"Segmentation","score":0.8113463521003723},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7921628952026367},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6760115623474121},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.6284804344177246},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6279467344284058},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5486090183258057},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.5284749269485474},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4979262351989746},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.49513474106788635},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.4812321662902832},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4504561722278595},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.0888184905052185},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08063796162605286},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.06953838467597961}],"concepts":[{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.8113463521003723},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7921628952026367},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6760115623474121},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.6284804344177246},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6279467344284058},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5486090183258057},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.5284749269485474},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4979262351989746},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.49513474106788635},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.4812321662902832},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4504561722278595},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.0888184905052185},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08063796162605286},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.06953838467597961},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"pmh:oai:mediatum.ub.tum.de:node/1637915","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1637915","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"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":"","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1637915","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1637915","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"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":"","raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1673310716","https://openalex.org/W1903029394","https://openalex.org/W2150066425","https://openalex.org/W2211722331","https://openalex.org/W2556802233","https://openalex.org/W2560609797","https://openalex.org/W2613718673","https://openalex.org/W2744404335","https://openalex.org/W2795587607","https://openalex.org/W2904332125","https://openalex.org/W2911831070","https://openalex.org/W2959771705","https://openalex.org/W2962759414","https://openalex.org/W2963121255","https://openalex.org/W2963150697","https://openalex.org/W2963158438","https://openalex.org/W2963350373","https://openalex.org/W2963775509","https://openalex.org/W2964266557","https://openalex.org/W2965182628","https://openalex.org/W2968296999","https://openalex.org/W2981537222","https://openalex.org/W2990613095","https://openalex.org/W2991216808","https://openalex.org/W2991405684","https://openalex.org/W2999219213","https://openalex.org/W3003437478","https://openalex.org/W3010312695","https://openalex.org/W3012494314","https://openalex.org/W3016210441","https://openalex.org/W3016965472","https://openalex.org/W3034355852","https://openalex.org/W3045034239","https://openalex.org/W3091155238","https://openalex.org/W3093434340","https://openalex.org/W3109154950","https://openalex.org/W3129377622","https://openalex.org/W3133929890","https://openalex.org/W3207776935","https://openalex.org/W4287814239"],"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/W1964041166","https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W2996519767"],"abstract_inverted_index":{"Panoptic":[0],"segmentation":[1,35],"has":[2],"recently":[3],"unified":[4],"semantic":[5,129],"and":[6,21,105,123],"instance":[7],"segmentation,":[8,76],"previously":[9],"addressed":[10],"separately,":[11],"thus":[12],"taking":[13],"a":[14,31,57,61,74],"step":[15],"further":[16,106],"towards":[17],"creating":[18],"more":[19],"comprehensive":[20],"efficient":[22],"perception":[23],"systems.":[24],"In":[25],"this":[26,71],"paper,":[27],"we":[28,115],"present":[29],"Panoster,":[30],"novel":[32],"proposal-free":[33],"panoptic":[34,133],"method":[36,119],"for":[37],"LiDAR":[38],"point":[39],"clouds.":[40],"Unlike":[41],"previous":[42],"approaches":[43,99],"relying":[44],"on":[45,100,126],"several":[46],"steps":[47],"to":[48,65,79,131],"group":[49],"pixels":[50],"or":[51],"points":[52],"into":[53],"objects,":[54],"Panoster":[55,78,93],"proposes":[56],"simplified":[58],"framework":[59],"incorporating":[60],"learning-based":[62],"clustering":[63],"solution":[64],"identify":[66],"instances.":[67],"At":[68],"inference":[69],"time,":[70],"acts":[72],"as":[73],"class-agnostic":[75],"allowing":[77],"be":[80,121],"fast,":[81],"while":[82],"outperforming":[83],"prior":[84],"methods":[85],"in":[86],"terms":[87],"of":[88],"accuracy.":[89],"Without":[90],"any":[91],"post-processing,":[92],"reached":[94],"state-of-the-art":[95],"results":[96],"among":[97],"published":[98],"the":[101],"challenging":[102],"SemanticKITTI":[103],"benchmark,":[104],"increased":[107],"its":[108],"lead":[109],"by":[110],"exploiting":[111],"heuristic":[112],"techniques.":[113],"Additionally,":[114],"showcase":[116],"how":[117],"our":[118],"can":[120],"flexibly":[122],"effectively":[124],"applied":[125],"diverse":[127],"existing":[128],"architectures":[130],"deliver":[132],"predictions.":[134]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":20},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":9}],"updated_date":"2026-07-02T06:12:58.138171","created_date":"2025-10-10T00:00:00"}
