{"id":"https://openalex.org/W3198790326","doi":"https://doi.org/10.1109/lra.2022.3148457","title":"Panoptic Nuscenes: A Large-Scale Benchmark for LiDAR Panoptic Segmentation and Tracking","display_name":"Panoptic Nuscenes: A Large-Scale Benchmark for LiDAR Panoptic Segmentation and Tracking","publication_year":2022,"publication_date":"2022-02-07","ids":{"openalex":"https://openalex.org/W3198790326","doi":"https://doi.org/10.1109/lra.2022.3148457","mag":"3198790326"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3148457","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3148457","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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/A5058607874","display_name":"Whye Kit Fong","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Whye Kit Fong","raw_affiliation_strings":["Motional, Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Motional, Singapore, Singapore","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057076519","display_name":"Rohit Mohan","orcid":"https://orcid.org/0000-0002-5067-4279"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rohit Mohan","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026026712","display_name":"Juana Valeria Hurtado","orcid":"https://orcid.org/0000-0002-7878-4269"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Juana Valeria Hurtado","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059619100","display_name":"Lubing Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lubing Zhou","raw_affiliation_strings":["Motional, Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Motional, Singapore, Singapore","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001917215","display_name":"Holger Caesar","orcid":"https://orcid.org/0000-0001-5099-6297"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Holger Caesar","raw_affiliation_strings":["Motional, Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Motional, Singapore, Singapore","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047815467","display_name":"Oscar Beijbom","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Oscar Beijbom","raw_affiliation_strings":["Motional, Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Motional, Singapore, Singapore","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039639553","display_name":"Abhinav Valada","orcid":"https://orcid.org/0000-0003-4710-3114"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Abhinav Valada","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5058607874"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":14.7357,"has_fulltext":false,"cited_by_count":177,"citation_normalized_percentile":{"value":0.99750655,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":100},"biblio":{"volume":"7","issue":"2","first_page":"3795","last_page":"3802"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9997000098228455,"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":0.9997000098228455,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9993000030517578,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9991000294685364,"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/panopticon","display_name":"Panopticon","score":0.8368892669677734},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7867396473884583},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6642993688583374},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6040388345718384},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.6029009819030762},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5602216124534607},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.49568426609039307},{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.48601967096328735},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.475975900888443},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4515678882598877},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4470682144165039},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.42293494939804077},{"id":"https://openalex.org/keywords/database","display_name":"Database","score":0.12927880883216858},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.10935619473457336},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08503708243370056},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.08444374799728394}],"concepts":[{"id":"https://openalex.org/C138569888","wikidata":"https://www.wikidata.org/wiki/Q828310","display_name":"Panopticon","level":3,"score":0.8368892669677734},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7867396473884583},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6642993688583374},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6040388345718384},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.6029009819030762},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5602216124534607},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.49568426609039307},{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.48601967096328735},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.475975900888443},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4515678882598877},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4470682144165039},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.42293494939804077},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.12927880883216858},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.10935619473457336},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08503708243370056},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.08444374799728394},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3148457","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3148457","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.8399999737739563,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320331837","display_name":"Eva Mayr-Stihl Stiftung","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W2115579991","https://openalex.org/W2955189650","https://openalex.org/W2962912109","https://openalex.org/W2963350373","https://openalex.org/W2990613095","https://openalex.org/W2991216808","https://openalex.org/W2999219213","https://openalex.org/W3003437478","https://openalex.org/W3011788244","https://openalex.org/W3012494314","https://openalex.org/W3016404858","https://openalex.org/W3035172746","https://openalex.org/W3035275207","https://openalex.org/W3035574168","https://openalex.org/W3037058446","https://openalex.org/W3109154950","https://openalex.org/W3113211818","https://openalex.org/W3127091182","https://openalex.org/W3129377622","https://openalex.org/W3129618687","https://openalex.org/W3130522999","https://openalex.org/W3133318722","https://openalex.org/W3133929890","https://openalex.org/W3167095230","https://openalex.org/W3168086592","https://openalex.org/W3168181468","https://openalex.org/W3168659596","https://openalex.org/W3174527233","https://openalex.org/W3177330511","https://openalex.org/W3181190968","https://openalex.org/W3207194102","https://openalex.org/W3207776935","https://openalex.org/W3211391682","https://openalex.org/W4226100504","https://openalex.org/W4287554952","https://openalex.org/W6776047415","https://openalex.org/W6776142756","https://openalex.org/W6780503301","https://openalex.org/W6788009311","https://openalex.org/W6790586251"],"related_works":["https://openalex.org/W4238897586","https://openalex.org/W2921107741","https://openalex.org/W2197002326","https://openalex.org/W2494728058","https://openalex.org/W3204968380","https://openalex.org/W1710116222","https://openalex.org/W2800383628","https://openalex.org/W2803139007","https://openalex.org/W2088647418","https://openalex.org/W2113265763"],"abstract_inverted_index":{"Panoptic":[0,83,155],"scene":[1,186],"understanding":[2,187],"and":[3,12,51,102,135,161],"tracking":[4,104,134],"of":[5,27,48,56,64,72,116,128,154,182,188],"dynamic":[6,57,189],"agents":[7],"are":[8],"essential":[9],"for":[10,97,114,132,185],"robots":[11],"automated":[13],"vehicles":[14],"to":[15,158],"navigate":[16],"in":[17,45],"urban":[18,49,190],"environments.":[19,191],"As":[20],"LiDARs":[21],"provide":[22,110],"accurate":[23],"illumination-independent":[24],"geometric":[25],"depictions":[26],"the":[28,46,73,81,126,129,137,144,152,163,180],"scene,":[29],"performing":[30],"these":[31,65,117],"tasks":[32,66,118],"using":[33],"LiDAR":[34],"point":[35],"clouds":[36],"provides":[37],"reliable":[38],"predictions.":[39],"However,":[40],"existing":[41,130,159],"datasets":[42,160],"lack":[43],"diversity":[44],"type":[47],"scenes":[50],"have":[52],"a":[53],"limited":[54],"number":[55],"object":[58],"instances":[59],"which":[60],"hinders":[61],"both":[62],"learning":[63],"as":[67,69],"well":[68],"credible":[70],"benchmarking":[71],"developed":[74],"methods.":[75],"In":[76],"this":[77,176],"letter,":[78],"we":[79,109,124],"introduce":[80],"large-scale":[82],"nuScenes":[84,91,156],"benchmark":[85],"dataset":[86,92],"that":[87,142,150,175],"extends":[88],"our":[89,120],"popular":[90],"with":[93],"point-wise":[94],"groundtruth":[95],"annotations":[96],"semantic":[98],"segmentation,":[99,101],"panoptic":[100,103,133],"tasks.":[105],"To":[106],"facilitate":[107],"comparison,":[108],"several":[111],"strong":[112],"baselines":[113],"each":[115],"on":[119],"proposed":[121],"dataset.":[122],"Moreover,":[123],"analyze":[125],"drawbacks":[127],"metrics":[131],"propose":[136],"novel":[138,183],"instance-centric":[139],"PAT":[140],"metric":[141],"addresses":[143],"concerns.":[145],"We":[146,173],"present":[147],"exhaustive":[148],"experiments":[149],"demonstrate":[151],"utility":[153],"compared":[157],"make":[162],"online":[164],"evaluation":[165],"server":[166],"available":[167],"at":[168],"<uri":[169],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[170],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">nuScenes.org</uri>":[171],".":[172],"believe":[174],"extension":[177],"will":[178],"accelerate":[179],"research":[181],"methods":[184]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":49},{"year":2024,"cited_by_count":53},{"year":2023,"cited_by_count":54},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":2}],"updated_date":"2026-03-18T14:38:29.013473","created_date":"2025-10-10T00:00:00"}
