{"id":"https://openalex.org/W4317496717","doi":"https://doi.org/10.1109/lra.2023.3238137","title":"OPA-3D: Occlusion-Aware Pixel-Wise Aggregation for Monocular 3D Object Detection","display_name":"OPA-3D: Occlusion-Aware Pixel-Wise Aggregation for Monocular 3D Object Detection","publication_year":2023,"publication_date":"2023-01-19","ids":{"openalex":"https://openalex.org/W4317496717","doi":"https://doi.org/10.1109/lra.2023.3238137"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3238137","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3238137","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/10024862/10021668.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/10024862/10021668.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5047143300","display_name":"Yongzhi Su","orcid":"https://orcid.org/0000-0003-0843-5917"},"institutions":[{"id":"https://openalex.org/I153267046","display_name":"University of Kaiserslautern","ror":"https://ror.org/04zrf7b53","country_code":"DE","type":"education","lineage":["https://openalex.org/I153267046"]},{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Yongzhi Su","raw_affiliation_strings":["German Research Center for Artificial Intelligence (DFKI GmbH), Kaiserslautern, Germany","Faculty of Computer Science, TU Kaiserslautern, Kaiserslautern, Germany"],"affiliations":[{"raw_affiliation_string":"German Research Center for Artificial Intelligence (DFKI GmbH), Kaiserslautern, Germany","institution_ids":["https://openalex.org/I33256026"]},{"raw_affiliation_string":"Faculty of Computer Science, TU Kaiserslautern, Kaiserslautern, Germany","institution_ids":["https://openalex.org/I153267046"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017575531","display_name":"Yan Di","orcid":"https://orcid.org/0000-0003-0671-8323"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yan Di","raw_affiliation_strings":["Faculty of Computer Science, Technische Universit&#x00E4;t M&#x00FC;nchen, Garching bei M&#x00FC;nchen, Germany"],"affiliations":[{"raw_affiliation_string":"Faculty of Computer Science, Technische Universit&#x00E4;t M&#x00FC;nchen, Garching bei M&#x00FC;nchen, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054810193","display_name":"Guangyao Zhai","orcid":"https://orcid.org/0000-0002-6702-8302"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guangyao Zhai","raw_affiliation_strings":["Faculty of Computer Science, Technische Universit&#x00E4;t M&#x00FC;nchen, Garching bei M&#x00FC;nchen, Germany"],"affiliations":[{"raw_affiliation_string":"Faculty of Computer Science, Technische Universit&#x00E4;t M&#x00FC;nchen, Garching bei M&#x00FC;nchen, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006401089","display_name":"Fabian Manhardt","orcid":"https://orcid.org/0000-0002-4577-4590"},"institutions":[{"id":"https://openalex.org/I4210100430","display_name":"Google (Switzerland)","ror":"https://ror.org/014f9c269","country_code":"CH","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210100430","https://openalex.org/I4210128969"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Fabian Manhardt","raw_affiliation_strings":["Google, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Google, Zurich, Switzerland","institution_ids":["https://openalex.org/I4210100430"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000984202","display_name":"Jason Rambach","orcid":"https://orcid.org/0000-0001-8122-6789"},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jason Rambach","raw_affiliation_strings":["German Research Center for Artificial Intelligence (DFKI GmbH), Kaiserslautern, Germany"],"affiliations":[{"raw_affiliation_string":"German Research Center for Artificial Intelligence (DFKI GmbH), Kaiserslautern, Germany","institution_ids":["https://openalex.org/I33256026"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067135033","display_name":"Benjamin Busam","orcid":"https://orcid.org/0000-0002-0620-5774"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Benjamin Busam","raw_affiliation_strings":["Faculty of Computer Science, Technische Universit&#x00E4;t M&#x00FC;nchen, Garching bei M&#x00FC;nchen, Germany"],"affiliations":[{"raw_affiliation_string":"Faculty of Computer Science, Technische Universit&#x00E4;t M&#x00FC;nchen, Garching bei M&#x00FC;nchen, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051650277","display_name":"Didier Stricker","orcid":"https://orcid.org/0009-0004-8794-6858"},"institutions":[{"id":"https://openalex.org/I153267046","display_name":"University of Kaiserslautern","ror":"https://ror.org/04zrf7b53","country_code":"DE","type":"education","lineage":["https://openalex.org/I153267046"]},{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Didier Stricker","raw_affiliation_strings":["German Research Center for Artificial Intelligence (DFKI GmbH), Kaiserslautern, Germany","Faculty of Computer Science, TU Kaiserslautern, Kaiserslautern, Germany"],"affiliations":[{"raw_affiliation_string":"German Research Center for Artificial Intelligence (DFKI GmbH), Kaiserslautern, Germany","institution_ids":["https://openalex.org/I33256026"]},{"raw_affiliation_string":"Faculty of Computer Science, TU Kaiserslautern, Kaiserslautern, Germany","institution_ids":["https://openalex.org/I153267046"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041092666","display_name":"Federico Tombari","orcid":"https://orcid.org/0000-0001-5598-5212"},"institutions":[{"id":"https://openalex.org/I4210100430","display_name":"Google (Switzerland)","ror":"https://ror.org/014f9c269","country_code":"CH","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210100430","https://openalex.org/I4210128969"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Federico Tombari","raw_affiliation_strings":["Faculty of Computer Science, Technische Universit&#x00E4;t M&#x00FC;nchen, Garching bei M&#x00FC;nchen, Germany","Google, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Faculty of Computer Science, Technische Universit&#x00E4;t M&#x00FC;nchen, Garching bei M&#x00FC;nchen, Germany","institution_ids":[]},{"raw_affiliation_string":"Google, Zurich, Switzerland","institution_ids":["https://openalex.org/I4210100430"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5047143300"],"corresponding_institution_ids":["https://openalex.org/I153267046","https://openalex.org/I33256026"],"apc_list":null,"apc_paid":null,"fwci":2.9816,"has_fulltext":true,"cited_by_count":25,"citation_normalized_percentile":{"value":0.92816223,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"8","issue":"3","first_page":"1327","last_page":"1334"},"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":0.9997000098228455,"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9980000257492065,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/minimum-bounding-box","display_name":"Minimum bounding box","score":0.8792226314544678},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6526345610618591},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6184689998626709},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.611840009689331},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5870498418807983},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5545585751533508},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5258182287216187},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5238166451454163},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.47861069440841675},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.4599660038948059},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.44169676303863525},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.41036808490753174},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.288091242313385},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.11377647519111633}],"concepts":[{"id":"https://openalex.org/C147037132","wikidata":"https://www.wikidata.org/wiki/Q6865426","display_name":"Minimum bounding box","level":3,"score":0.8792226314544678},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6526345610618591},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6184689998626709},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.611840009689331},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5870498418807983},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5545585751533508},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5258182287216187},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5238166451454163},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.47861069440841675},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.4599660038948059},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.44169676303863525},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.41036808490753174},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.288091242313385},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.11377647519111633},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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":"doi:10.1109/lra.2023.3238137","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3238137","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/10024862/10021668.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/lra.2023.3238137","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3238137","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/10024862/10021668.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334322","display_name":"HORIZON EUROPE Framework Programme","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4317496717.pdf","grobid_xml":"https://content.openalex.org/works/W4317496717.grobid-xml"},"referenced_works_count":50,"referenced_works":["https://openalex.org/W2150066425","https://openalex.org/W2560544142","https://openalex.org/W2605189827","https://openalex.org/W2768282280","https://openalex.org/W2799123546","https://openalex.org/W2953941229","https://openalex.org/W2954174912","https://openalex.org/W2963150697","https://openalex.org/W2963171573","https://openalex.org/W2963323244","https://openalex.org/W2963488291","https://openalex.org/W2963667201","https://openalex.org/W2964166085","https://openalex.org/W2969050719","https://openalex.org/W2971011093","https://openalex.org/W2972211064","https://openalex.org/W2981857055","https://openalex.org/W2997790735","https://openalex.org/W2998421254","https://openalex.org/W2998633559","https://openalex.org/W3011914484","https://openalex.org/W3034479628","https://openalex.org/W3035049382","https://openalex.org/W3035180028","https://openalex.org/W3035424742","https://openalex.org/W3035574168","https://openalex.org/W3035749845","https://openalex.org/W3109240920","https://openalex.org/W3148242781","https://openalex.org/W3169690993","https://openalex.org/W3173668541","https://openalex.org/W3173727695","https://openalex.org/W3175233244","https://openalex.org/W3176319743","https://openalex.org/W3193939309","https://openalex.org/W3204439495","https://openalex.org/W4200629618","https://openalex.org/W4214558638","https://openalex.org/W4221155238","https://openalex.org/W4226321491","https://openalex.org/W4289283268","https://openalex.org/W4312713480","https://openalex.org/W4313027996","https://openalex.org/W4383108845","https://openalex.org/W6746052068","https://openalex.org/W6756392615","https://openalex.org/W6760424586","https://openalex.org/W6786385858","https://openalex.org/W6810161144","https://openalex.org/W6843754331"],"related_works":["https://openalex.org/W3036286480","https://openalex.org/W3192357901","https://openalex.org/W2387360586","https://openalex.org/W4287027631","https://openalex.org/W4237171675","https://openalex.org/W2952736415","https://openalex.org/W3209723314","https://openalex.org/W3205398323","https://openalex.org/W2883297582","https://openalex.org/W4390524233"],"abstract_inverted_index":{"Monocular":[0],"3D":[1,71,129],"object":[2,42,63,94,130],"detection":[3,69],"has":[4],"recently":[5],"made":[6],"a":[7,67,103,177],"significant":[8],"leap":[9],"forward":[10],"thanks":[11],"to":[12,52,91,115,140],"the":[13,36,81,93,124,147,155,161,171],"use":[14],"of":[15,33,70,149],"pre-trained":[16],"depth":[17,40,57,86],"estimators":[18],"for":[19],"pseudo-LiDAR":[20],"recovery.":[21],"Yet,":[22],"such":[23],"two-stage":[24],"methods":[25,169],"typically":[26],"suffer":[27],"from":[28],"overfitting":[29],"and":[30,41,62,77,87,132,152],"are":[31],"incapable":[32],"explicitly":[34],"encapsulating":[35],"geometric":[37],"relation":[38],"between":[39],"bounding":[43,64,95,104],"box.":[44],"To":[45],"overcome":[46],"this":[47],"limitation,":[48],"we":[49],"instead":[50],"propose":[51],"jointly":[53],"estimate":[54],"dense":[55],"scene":[56],"with":[58],"depth-bounding":[59,88],"box":[60,89,96,105],"residuals":[61,90],"boxes,":[65],"allowing":[66],"two-stream":[68,136],"objects":[72],"that":[73,165],"harnesses":[74],"both":[75,150],"geometry":[76,82,107],"context":[78],"information.":[79],"Thereby,":[80],"stream":[83],"combines":[84],"visible":[85],"recover":[92],"via":[97],"explicit":[98],"occlusion-aware":[99],"optimization.":[100],"In":[101],"addition,":[102],"based":[106],"projection":[108],"scheme":[109],"is":[110],"employed":[111],"in":[112],"an":[113],"effort":[114],"enhance":[116],"distance":[117],"perception.":[118],"The":[119],"second":[120],"stream,":[121],"named":[122],"as":[123],"Context":[125],"Stream,":[126],"directly":[127],"regresses":[128],"location":[131],"size.":[133],"This":[134],"novel":[135],"representation":[137],"enables":[138],"us":[139],"enforce":[141],"cross-stream":[142],"consistency":[143],"terms,":[144],"which":[145],"aligns":[146],"outputs":[148],"streams,":[151],"further":[153],"improves":[154],"overall":[156],"performance.":[157],"Extensive":[158],"experiments":[159],"on":[160,170],"public":[162],"benchmark":[163],"demonstrate":[164],"OPA-3D":[166],"outperforms":[167],"state-of-the-art":[168],"main":[172],"Car":[173],"category,":[174],"whilst":[175],"keeping":[176],"real-time":[178],"inference":[179],"speed.":[180]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":7}],"updated_date":"2026-04-12T07:58:50.170612","created_date":"2025-10-10T00:00:00"}
