{"id":"https://openalex.org/W4388919382","doi":"https://doi.org/10.1109/lra.2023.3335771","title":"CMDFusion: Bidirectional Fusion Network With Cross-Modality Knowledge Distillation for LiDAR Semantic Segmentation","display_name":"CMDFusion: Bidirectional Fusion Network With Cross-Modality Knowledge Distillation for LiDAR Semantic Segmentation","publication_year":2023,"publication_date":"2023-11-22","ids":{"openalex":"https://openalex.org/W4388919382","doi":"https://doi.org/10.1109/lra.2023.3335771"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3335771","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3335771","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/A5019137312","display_name":"Jun Cen","orcid":"https://orcid.org/0000-0002-7578-7667"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]},{"id":"https://openalex.org/I45928872","display_name":"Alibaba Group (China)","ror":"https://ror.org/00k642b80","country_code":"CN","type":"company","lineage":["https://openalex.org/I45928872"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["CN","HK"],"is_corresponding":true,"raw_author_name":"Jun Cen","raw_affiliation_strings":["Alibaba DAMO Academy, Hangzhou, China","Cheng Kar-Shun Robotics Institute, The Hong Kong University of Science and Technology, Hong Kong SAR, China","Alibaba Group, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Alibaba DAMO Academy, Hangzhou, China","institution_ids":["https://openalex.org/I45928872"]},{"raw_affiliation_string":"Cheng Kar-Shun Robotics Institute, The Hong Kong University of Science and Technology, Hong Kong SAR, China","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]},{"raw_affiliation_string":"Alibaba Group, Hangzhou, China","institution_ids":["https://openalex.org/I45928872"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100449697","display_name":"Shiwei Zhang","orcid":"https://orcid.org/0000-0002-6929-5295"},"institutions":[{"id":"https://openalex.org/I45928872","display_name":"Alibaba Group (China)","ror":"https://ror.org/00k642b80","country_code":"CN","type":"company","lineage":["https://openalex.org/I45928872"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiwei Zhang","raw_affiliation_strings":["Alibaba Group, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Alibaba Group, Hangzhou, China","institution_ids":["https://openalex.org/I45928872"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055214700","display_name":"Yixuan Pei","orcid":"https://orcid.org/0009-0005-5641-4004"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yixuan Pei","raw_affiliation_strings":["SMILES LAB, School of Information and Communication Engineering, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, China"],"affiliations":[{"raw_affiliation_string":"SMILES LAB, School of Information and Communication Engineering, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100377590","display_name":"Kun Li","orcid":"https://orcid.org/0009-0001-5913-5829"},"institutions":[{"id":"https://openalex.org/I45928872","display_name":"Alibaba Group (China)","ror":"https://ror.org/00k642b80","country_code":"CN","type":"company","lineage":["https://openalex.org/I45928872"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kun Li","raw_affiliation_strings":["Alibaba Group, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Alibaba Group, Hangzhou, China","institution_ids":["https://openalex.org/I45928872"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101570730","display_name":"Hang Zheng","orcid":"https://orcid.org/0009-0000-9200-1737"},"institutions":[{"id":"https://openalex.org/I45928872","display_name":"Alibaba Group (China)","ror":"https://ror.org/00k642b80","country_code":"CN","type":"company","lineage":["https://openalex.org/I45928872"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hang Zheng","raw_affiliation_strings":["Alibaba Group, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Alibaba Group, Hangzhou, China","institution_ids":["https://openalex.org/I45928872"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101982631","display_name":"Maochun Luo","orcid":"https://orcid.org/0009-0004-2677-5186"},"institutions":[{"id":"https://openalex.org/I45928872","display_name":"Alibaba Group (China)","ror":"https://ror.org/00k642b80","country_code":"CN","type":"company","lineage":["https://openalex.org/I45928872"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Maochun Luo","raw_affiliation_strings":["Alibaba Group, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Alibaba Group, Hangzhou, China","institution_ids":["https://openalex.org/I45928872"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051747862","display_name":"Yingya Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I45928872","display_name":"Alibaba Group (China)","ror":"https://ror.org/00k642b80","country_code":"CN","type":"company","lineage":["https://openalex.org/I45928872"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingya Zhang","raw_affiliation_strings":["Alibaba Group, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Alibaba Group, Hangzhou, China","institution_ids":["https://openalex.org/I45928872"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100719529","display_name":"Qifeng Chen","orcid":"https://orcid.org/0000-0003-2199-3948"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Qifeng Chen","raw_affiliation_strings":["Cheng Kar-Shun Robotics Institute, The Hong Kong University of Science and Technology, Hong Kong SAR, China"],"affiliations":[{"raw_affiliation_string":"Cheng Kar-Shun Robotics Institute, The Hong Kong University of Science and Technology, Hong Kong SAR, China","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5019137312"],"corresponding_institution_ids":["https://openalex.org/I200769079","https://openalex.org/I45928872","https://openalex.org/I889458895"],"apc_list":null,"apc_paid":null,"fwci":2.1587,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.89814005,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"9","issue":"1","first_page":"771","last_page":"778"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9987000226974487,"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/T10052","display_name":"Medical Image Segmentation Techniques","score":0.991100013256073,"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/computer-science","display_name":"Computer science","score":0.7516189217567444},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7066736221313477},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6080414056777954},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.5856300592422485},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5838569402694702},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.49488919973373413},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.4923135042190552},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.483175665140152},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4755910634994507},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4281143248081207},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4180023670196533},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.36603277921676636},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.1490495502948761},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.0778363049030304}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7516189217567444},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7066736221313477},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6080414056777954},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5856300592422485},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5838569402694702},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.49488919973373413},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.4923135042190552},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.483175665140152},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4755910634994507},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4281143248081207},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4180023670196533},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.36603277921676636},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.1490495502948761},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0778363049030304},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2023.3335771","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3335771","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"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-135680","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-135680","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W2194775991","https://openalex.org/W2340897893","https://openalex.org/W2797997528","https://openalex.org/W2963125977","https://openalex.org/W2963182550","https://openalex.org/W2963231572","https://openalex.org/W2968557240","https://openalex.org/W2990479855","https://openalex.org/W2990613095","https://openalex.org/W2991216808","https://openalex.org/W3003437478","https://openalex.org/W3034239841","https://openalex.org/W3035275207","https://openalex.org/W3035461736","https://openalex.org/W3035574168","https://openalex.org/W3040741167","https://openalex.org/W3047223011","https://openalex.org/W3093434340","https://openalex.org/W3107479685","https://openalex.org/W3109154950","https://openalex.org/W3109944402","https://openalex.org/W3137210930","https://openalex.org/W3162787701","https://openalex.org/W3173732446","https://openalex.org/W3181190968","https://openalex.org/W4226389400","https://openalex.org/W4287554952","https://openalex.org/W4312414163","https://openalex.org/W4383066393","https://openalex.org/W6739778489","https://openalex.org/W6763422710","https://openalex.org/W6781274669","https://openalex.org/W6788009311","https://openalex.org/W6838956374","https://openalex.org/W6840633886","https://openalex.org/W6842385943"],"related_works":["https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W2132659060","https://openalex.org/W2031992971","https://openalex.org/W3214791684","https://openalex.org/W2353265673","https://openalex.org/W2152662039","https://openalex.org/W2726747157","https://openalex.org/W2004817612","https://openalex.org/W2010131506"],"abstract_inverted_index":{"2D":[0,19,67,121,125,143,172,176],"RGB":[1,162],"images":[2,163],"and":[3,20,95,104,199],"3D":[4,21,99,131,139,181],"LIDAR":[5,29,182],"point":[6],"clouds":[7],"provide":[8],"complementary":[9],"knowledge":[10,122,134,173],"for":[11,27,146],"the":[12,28,66,98,113,120,138,151,157,171,180,190],"perception":[13],"system":[14],"of":[15,65,112,154,156],"autonomous":[16],"vehicles.":[17],"Several":[18],"fusion":[22,40,58,92,103,115],"methods":[23,41,59,196],"have":[24],"been":[25],"explored":[26],"semantic":[30],"segmentation":[31],"task,":[32],"but":[33],"they":[34],"suffer":[35],"from":[36,123],"different":[37],"problems.":[38],"2D-to-3D":[39,102],"require":[42],"strictly":[43],"paired":[44],"data":[45],"during":[46,167],"inference,":[47],"which":[48,108],"may":[49],"not":[50,149,165],"be":[51],"available":[52],"in":[53,81,150],"real-world":[54],"scenarios,":[55],"while":[56],"3D-to-2D":[57,105],"cannot":[60],"explicitly":[61,94],"make":[62],"full":[63],"use":[64],"information.":[68],"Therefore,":[69],"we":[70,118],"propose":[71],"a":[72,124,130],"Bidirectional":[73],"Fusion":[74],"Network":[75],"with":[76],"Cross-Modality":[77],"Knowledge":[78],"Distillation":[79],"(CMDFusion)":[80],"this":[82,160],"work.":[83],"Our":[84],"method":[85],"has":[86],"two":[87],"contributions.":[88],"First,":[89],"our":[90,187],"bidirectional":[91],"scheme":[93],"implicitly":[96],"enhances":[97],"feature":[100],"via":[101],"fusion,":[106],"respectively,":[107],"surpasses":[109],"either":[110],"one":[111],"single":[114],"schemes.":[116],"Second,":[117],"distillate":[119],"network":[126,132,140],"(Camera":[127],"branch)":[128,135],"to":[129,179],"(2D":[133],"so":[136],"that":[137,186],"can":[141],"generate":[142],"information":[144,177],"even":[145],"those":[147],"points":[148],"FOV":[152],"(field":[153],"view)":[155],"camera.":[158],"In":[159],"way,":[161],"are":[164],"required":[166],"inference":[168],"anymore":[169],"since":[170],"branch":[174],"provides":[175],"according":[178],"input.":[183],"We":[184],"show":[185],"CMDFusion":[188],"achieves":[189],"best":[191],"performance":[192],"among":[193],"all":[194],"fusion-based":[195],"on":[197],"SemanticKITTI":[198],"nuScenes":[200],"datasets.":[201]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":12}],"updated_date":"2026-04-04T08:04:53.788161","created_date":"2025-10-10T00:00:00"}
