{"id":"https://openalex.org/W3080432947","doi":"https://doi.org/10.1109/lra.2021.3132059","title":"Multi-Scale Interaction for Real-Time LiDAR Data Segmentation on an Embedded Platform","display_name":"Multi-Scale Interaction for Real-Time LiDAR Data Segmentation on an Embedded Platform","publication_year":2021,"publication_date":"2021-12-02","ids":{"openalex":"https://openalex.org/W3080432947","doi":"https://doi.org/10.1109/lra.2021.3132059","mag":"3080432947"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3132059","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3132059","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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 Robotics and Automation Letters","raw_type":"journal-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/A5100458954","display_name":"Shijie Li","orcid":"https://orcid.org/0000-0001-6288-6984"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Shijie Li","raw_affiliation_strings":["University of Bonn, Bonn, Germany"],"raw_orcid":"https://orcid.org/0000-0001-6288-6984","affiliations":[{"raw_affiliation_string":"University of Bonn, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032262344","display_name":"Xieyuanli Chen","orcid":"https://orcid.org/0000-0003-0955-6681"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Xieyuanli Chen","raw_affiliation_strings":["University of Bonn, Bonn, Germany"],"raw_orcid":"https://orcid.org/0000-0003-0955-6681","affiliations":[{"raw_affiliation_string":"University of Bonn, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056961910","display_name":"Yun Liu","orcid":"https://orcid.org/0000-0001-6143-0264"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Yun Liu","raw_affiliation_strings":["ETH Zurich, Z\u00fcrich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0001-6143-0264","affiliations":[{"raw_affiliation_string":"ETH Zurich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078838951","display_name":"Dengxin Dai","orcid":"https://orcid.org/0000-0001-5440-9678"},"institutions":[{"id":"https://openalex.org/I4210109712","display_name":"Max Planck Institute for Informatics","ror":"https://ror.org/01w19ak89","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210109712"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dengxin Dai","raw_affiliation_strings":["MPI for Informatics, Saarbr\u00fccken, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MPI for Informatics, Saarbr\u00fccken, Germany","institution_ids":["https://openalex.org/I4210109712"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011166267","display_name":"Cyrill Stachniss","orcid":"https://orcid.org/0000-0003-1173-6972"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Cyrill Stachniss","raw_affiliation_strings":["University of Bonn, Bonn, Germany"],"raw_orcid":"https://orcid.org/0000-0003-1173-6972","affiliations":[{"raw_affiliation_string":"University of Bonn, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012240246","display_name":"J\u00fcergen Gall","orcid":"https://orcid.org/0000-0002-9447-3399"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Juergen Gall","raw_affiliation_strings":["University of Bonn, Bonn, Germany"],"raw_orcid":"https://orcid.org/0000-0002-9447-3399","affiliations":[{"raw_affiliation_string":"University of Bonn, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.9655,"has_fulltext":false,"cited_by_count":96,"citation_normalized_percentile":{"value":0.97495693,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"7","issue":"2","first_page":"738","last_page":"745"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9998999834060669,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9998999834060669,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.998199999332428,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.991100013256073,"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/computer-science","display_name":"Computer science","score":0.7957789897918701},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7259871959686279},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6661808490753174},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6418455839157104},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.5847487449645996},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5707669258117676},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5527222156524658},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5178016424179077},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.49501103162765503},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.45208728313446045},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4394099712371826},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3914434313774109},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.13464874029159546},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.13236814737319946}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7957789897918701},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7259871959686279},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6661808490753174},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6418455839157104},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.5847487449645996},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5707669258117676},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5527222156524658},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5178016424179077},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.49501103162765503},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.45208728313446045},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4394099712371826},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3914434313774109},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.13464874029159546},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.13236814737319946},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2021.3132059","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3132059","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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 Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:bonndoc.ulb.uni-bonn.de:20.500.11811/11518","is_oa":false,"landing_page_url":"https://hdl.handle.net/20.500.11811/11518","pdf_url":null,"source":{"id":"https://openalex.org/S4306402493","display_name":"bonndoc (University of Bonn)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I135140700","host_organization_name":"University of Bonn","host_organization_lineage":["https://openalex.org/I135140700"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"doc-type:doctoralThesis"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.4099999964237213}],"awards":[{"id":"https://openalex.org/G3109397799","display_name":null,"funder_award_id":"EXC 2070","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G5535705494","display_name":null,"funder_award_id":"EXC 2070 -390732324","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G6637089785","display_name":"EXC 2070: PhenoRob  Robotik und Ph\u00e4notypisierung f\u00fcr Nachhaltige Nutzpflanzenproduktion","funder_award_id":"390732324","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G8004589530","display_name":null,"funder_award_id":"GA1927/5-2","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":61,"referenced_works":["https://openalex.org/W1901129140","https://openalex.org/W1903029394","https://openalex.org/W2037227137","https://openalex.org/W2150066425","https://openalex.org/W2194775991","https://openalex.org/W2279098554","https://openalex.org/W2558156561","https://openalex.org/W2560023338","https://openalex.org/W2560609797","https://openalex.org/W2560622558","https://openalex.org/W2612445135","https://openalex.org/W2630837129","https://openalex.org/W2787091153","https://openalex.org/W2788158258","https://openalex.org/W2795587607","https://openalex.org/W2795685215","https://openalex.org/W2796347433","https://openalex.org/W2797997528","https://openalex.org/W2799166040","https://openalex.org/W2799213142","https://openalex.org/W2804488433","https://openalex.org/W2883780447","https://openalex.org/W2886934227","https://openalex.org/W2962912109","https://openalex.org/W2963121255","https://openalex.org/W2963163009","https://openalex.org/W2963231572","https://openalex.org/W2963281829","https://openalex.org/W2963351448","https://openalex.org/W2963606038","https://openalex.org/W2963727650","https://openalex.org/W2968557240","https://openalex.org/W2981689412","https://openalex.org/W2982083293","https://openalex.org/W2991216808","https://openalex.org/W2997225633","https://openalex.org/W3003437478","https://openalex.org/W3003991701","https://openalex.org/W3008182911","https://openalex.org/W3012494314","https://openalex.org/W3035275207","https://openalex.org/W3048252687","https://openalex.org/W3119197669","https://openalex.org/W3152786524","https://openalex.org/W3161855852","https://openalex.org/W3164083741","https://openalex.org/W3165205231","https://openalex.org/W3192680689","https://openalex.org/W3216325077","https://openalex.org/W4293584584","https://openalex.org/W4297775537","https://openalex.org/W6684665197","https://openalex.org/W6695314431","https://openalex.org/W6737664043","https://openalex.org/W6739696289","https://openalex.org/W6739778489","https://openalex.org/W6750227808","https://openalex.org/W6751733626","https://openalex.org/W6763422710","https://openalex.org/W6782063732","https://openalex.org/W6795391902"],"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/W4399442168","https://openalex.org/W2114282491"],"abstract_inverted_index":{"Real-time":[0],"semantic":[1],"segmentation":[2],"of":[3,77,141,144,177],"LiDAR":[4,160],"data":[5],"is":[6,94,172,182],"crucial":[7],"for":[8,185],"autonomously":[9],"driving":[10],"vehicles":[11],"and":[12,22,44,59,97,107,124,136,146],"robots,":[13],"which":[14,40,93,171],"are":[15,41,56],"usually":[16],"equipped":[17],"with":[18,104,162],"an":[19,52,168],"embedded":[20,49,63,169],"platform":[21],"have":[23,70],"limited":[24],"computational":[25,110],"resources.":[26],"Approaches":[27],"that":[28],"operate":[29],"directly":[30],"on":[31,48,62,167],"the":[32,109,113,119,126,149,175,178],"point":[33],"cloud":[34],"use":[35],"complex":[36],"spatial":[37],"aggregation":[38],"operations,":[39],"very":[42,95],"expensive":[43],"difficult":[45],"to":[46],"deploy":[47],"platforms.":[50],"As":[51],"alternative,":[53],"projection-based":[54,67,86,137],"methods":[55,68,138],"more":[57,152],"efficient":[58,96],"can":[60],"run":[61],"hardware.":[64],"However,":[65],"current":[66],"either":[69],"a":[71,85,158],"low":[72],"accuracy":[73],"or":[74],"require":[75],"millions":[76],"parameters.":[78],"In":[79],"this":[80],"letter,":[81],"we":[82],"therefore":[83,183],"propose":[84],"method,":[87],"called":[88],"Multi-scale":[89],"Interaction":[90],"Network":[91],"(MINet),":[92],"accurate.":[98],"The":[99,130,180],"network":[100,127,132,150,181],"uses":[101],"multiple":[102],"paths":[103],"different":[105],"scales":[106,120],"balances":[108],"resources":[111],"between":[112,118],"scales.":[114],"Additional":[115],"dense":[116],"interactions":[117],"avoid":[121],"redundant":[122],"computations":[123],"make":[125],"highly":[128],"efficient.":[129],"proposed":[131],"outperforms":[133],"point-based,":[134],"image-based,":[135],"in":[139],"terms":[140],"accuracy,":[142],"number":[143],"parameters,":[145],"runtime.":[147],"Moreover,":[148],"processes":[151],"than":[153,174],"24":[154],"scans,":[155],"captured":[156],"by":[157],"high-resolution":[159],"sensor":[161],"64":[163],"beams,":[164],"per":[165],"second":[166],"platform,":[170],"higher":[173],"framerate":[176],"sensor.":[179],"suitable":[184],"robotics":[186],"applications.":[187]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":24},{"year":2024,"cited_by_count":21},{"year":2023,"cited_by_count":22},{"year":2022,"cited_by_count":17},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}