{"id":"https://openalex.org/W3205437216","doi":"https://doi.org/10.1109/mits.2021.3109041","title":"A Survey of 3D Point Cloud and Deep Learning-Based Approaches for Scene Understanding in Autonomous Driving","display_name":"A Survey of 3D Point Cloud and Deep Learning-Based Approaches for Scene Understanding in Autonomous Driving","publication_year":2021,"publication_date":"2021-10-11","ids":{"openalex":"https://openalex.org/W3205437216","doi":"https://doi.org/10.1109/mits.2021.3109041","mag":"3205437216"},"language":"en","primary_location":{"id":"doi:10.1109/mits.2021.3109041","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mits.2021.3109041","pdf_url":null,"source":{"id":"https://openalex.org/S131000621","display_name":"IEEE Intelligent Transportation Systems Magazine","issn_l":"1939-1390","issn":["1939-1390","1941-1197"],"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 Intelligent Transportation Systems Magazine","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/A5100383685","display_name":"Lele Wang","orcid":"https://orcid.org/0000-0001-9111-5951"},"institutions":[{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lele Wang","raw_affiliation_strings":["School of Optical-Electrical and Computer Engineering, University of Shanghai for Science & Technology, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-9111-5951","affiliations":[{"raw_affiliation_string":"School of Optical-Electrical and Computer Engineering, University of Shanghai for Science & Technology, Shanghai, China","institution_ids":["https://openalex.org/I148128674"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101492678","display_name":"Yingping Huang","orcid":"https://orcid.org/0000-0002-5861-2304"},"institutions":[{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingping Huang","raw_affiliation_strings":["School of Optical-Electrical and Computer Engineering, University of Shanghai for Science & Technology, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-5861-2304","affiliations":[{"raw_affiliation_string":"School of Optical-Electrical and Computer Engineering, University of Shanghai for Science & Technology, Shanghai, China","institution_ids":["https://openalex.org/I148128674"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I148128674"],"apc_list":null,"apc_paid":null,"fwci":1.07,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.73556231,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"14","issue":"6","first_page":"135","last_page":"154"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9994000196456909,"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":0.9994000196456909,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9980000257492065,"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9976999759674072,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.9164267778396606},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.684920072555542},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6495703458786011},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.6324324607849121},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6056903600692749},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.5959551334381104},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5669242143630981},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5556120872497559},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.55077064037323},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5423678755760193},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5179911851882935},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5005521774291992},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.48322662711143494},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.47016116976737976},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.44117945432662964},{"id":"https://openalex.org/keywords/data-science","display_name":"Data science","score":0.37509623169898987},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2749605178833008},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10443198680877686}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.9164267778396606},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.684920072555542},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6495703458786011},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.6324324607849121},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6056903600692749},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.5959551334381104},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5669242143630981},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5556120872497559},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.55077064037323},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5423678755760193},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5179911851882935},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5005521774291992},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.48322662711143494},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.47016116976737976},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.44117945432662964},{"id":"https://openalex.org/C2522767166","wikidata":"https://www.wikidata.org/wiki/Q2374463","display_name":"Data science","level":1,"score":0.37509623169898987},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2749605178833008},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10443198680877686},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mits.2021.3109041","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mits.2021.3109041","pdf_url":null,"source":{"id":"https://openalex.org/S131000621","display_name":"IEEE Intelligent Transportation Systems Magazine","issn_l":"1939-1390","issn":["1939-1390","1941-1197"],"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 Intelligent Transportation Systems Magazine","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2106145783","display_name":"\u57fa\u4e8e\u8d1d\u53f6\u65af\u6570\u636e\u878d\u5408\u7684\u8f66\u8f7d\u591a\u7c7b\u578b\u969c\u788d\u7269\u63a2\u6d4b\u548c\u8fa8\u8bc6\u65b9\u6cd5\u7814\u7a76","funder_award_id":"61374197","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":127,"referenced_works":["https://openalex.org/W116751493","https://openalex.org/W189277179","https://openalex.org/W639708223","https://openalex.org/W1536680647","https://openalex.org/W1565402342","https://openalex.org/W1569925765","https://openalex.org/W1901129140","https://openalex.org/W1966456026","https://openalex.org/W2072124831","https://openalex.org/W2100887497","https://openalex.org/W2211722331","https://openalex.org/W2229637417","https://openalex.org/W2293349265","https://openalex.org/W2416791088","https://openalex.org/W2555618208","https://openalex.org/W2558294288","https://openalex.org/W2558748708","https://openalex.org/W2560609797","https://openalex.org/W2596750703","https://openalex.org/W2607626645","https://openalex.org/W2615011300","https://openalex.org/W2618530766","https://openalex.org/W2624273542","https://openalex.org/W2624503621","https://openalex.org/W2760327656","https://openalex.org/W2764034829","https://openalex.org/W2767669918","https://openalex.org/W2782522152","https://openalex.org/W2795014656","https://openalex.org/W2798297823","https://openalex.org/W2798462325","https://openalex.org/W2798965597","https://openalex.org/W2872491670","https://openalex.org/W2884355388","https://openalex.org/W2885813678","https://openalex.org/W2891529090","https://openalex.org/W2896315990","https://openalex.org/W2897020901","https://openalex.org/W2897529137","https://openalex.org/W2899302124","https://openalex.org/W2904140919","https://openalex.org/W2919115771","https://openalex.org/W2932012013","https://openalex.org/W2942498895","https://openalex.org/W2946747865","https://openalex.org/W2949671016","https://openalex.org/W2949708697","https://openalex.org/W2951517617","https://openalex.org/W2962888833","https://openalex.org/W2962912109","https://openalex.org/W2963083779","https://openalex.org/W2963120444","https://openalex.org/W2963121255","https://openalex.org/W2963226018","https://openalex.org/W2963299370","https://openalex.org/W2963400571","https://openalex.org/W2963410012","https://openalex.org/W2963438049","https://openalex.org/W2963576229","https://openalex.org/W2963721253","https://openalex.org/W2963727135","https://openalex.org/W2963906598","https://openalex.org/W2963956866","https://openalex.org/W2964015378","https://openalex.org/W2964062501","https://openalex.org/W2966947780","https://openalex.org/W2968296999","https://openalex.org/W2968557240","https://openalex.org/W2969746073","https://openalex.org/W2970095196","https://openalex.org/W2976081675","https://openalex.org/W2979304272","https://openalex.org/W2979750740","https://openalex.org/W2980072470","https://openalex.org/W2981199548","https://openalex.org/W2990207990","https://openalex.org/W2990479855","https://openalex.org/W2990566162","https://openalex.org/W2996945478","https://openalex.org/W3000104494","https://openalex.org/W3002820529","https://openalex.org/W3003437478","https://openalex.org/W3004237909","https://openalex.org/W3008105217","https://openalex.org/W3008115128","https://openalex.org/W3012494314","https://openalex.org/W3017930107","https://openalex.org/W3032304793","https://openalex.org/W3034681945","https://openalex.org/W3034685389","https://openalex.org/W3035346742","https://openalex.org/W3035461736","https://openalex.org/W3039448353","https://openalex.org/W3047223011","https://openalex.org/W3080980548","https://openalex.org/W3089401811","https://openalex.org/W3093434340","https://openalex.org/W3096393735","https://openalex.org/W3103520796","https://openalex.org/W3107819843","https://openalex.org/W3109944402","https://openalex.org/W3113968283","https://openalex.org/W3114753236","https://openalex.org/W3117804044","https://openalex.org/W3118723358","https://openalex.org/W3120926185","https://openalex.org/W3166089996","https://openalex.org/W3206593131","https://openalex.org/W4288093950","https://openalex.org/W4293651439","https://openalex.org/W4297733535","https://openalex.org/W4298299490","https://openalex.org/W6607628293","https://openalex.org/W6726873649","https://openalex.org/W6739663239","https://openalex.org/W6744557953","https://openalex.org/W6748208425","https://openalex.org/W6748766184","https://openalex.org/W6753228762","https://openalex.org/W6755742144","https://openalex.org/W6756751353","https://openalex.org/W6761590077","https://openalex.org/W6762920848","https://openalex.org/W6766046556","https://openalex.org/W6766809555","https://openalex.org/W6781274669","https://openalex.org/W6784697942"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W4406302447","https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W2949096641","https://openalex.org/W2970686063","https://openalex.org/W4320729701","https://openalex.org/W4254103348","https://openalex.org/W3210378990","https://openalex.org/W3034745255"],"abstract_inverted_index":{"Supported":[0],"by":[1],"the":[2,28,40,126,137],"advancement":[3],"of":[4,13,30,43,58,70,97,133,136],"deep":[5],"learning":[6,17],"(DL)":[7],"techniques":[8],"and":[9,74,92,119,129],"a":[10,54,59,67,131],"massive":[11],"procession":[12],"sensor":[14,35],"technology,":[15],"feature":[16],"from":[18],"3D":[19,44,71],"lidar":[20],"data":[21,121],"has":[22,37],"led":[23,38],"to":[24,39,65,105],"rapid":[25],"development":[26],"in":[27,34,80],"field":[29],"autonomous":[31,81],"driving.":[32],"Progress":[33],"technologies":[36],"increased":[41],"availability":[42],"scanners,":[45],"such":[46],"as":[47],"lidar,":[48],"which":[49,83],"are":[50],"wildly":[51],"used":[52],"for":[53,77],"more":[55],"accurate":[56],"representation":[57,108],"vehicle\u2019s":[60],"surroundings.":[61],"This":[62],"article":[63],"aims":[64],"provide":[66,130],"comprehensive":[68],"survey":[69],"point":[72,106,112],"cloud":[73,107],"DL-based":[75],"methods":[76],"scene":[78],"understanding":[79],"driving,":[82],"is":[84],"mainly":[85],"divided":[86],"into":[87],"two":[88],"subtasks:":[89],"object":[90],"detection":[91],"semantic":[93],"segmentation.":[94],"For":[95],"each":[96],"these,":[98],"we":[99,124],"review":[100,127],"existing":[101],"research":[102,138],"works":[103],"according":[104],"methods,":[109],"including":[110],"pure":[111],"cloud,":[113],"projective":[114],"2D":[115],"views,":[116],"voxel":[117],"grids,":[118],"multimodal":[120],"fusion.":[122],"Finally,":[123],"summarize":[125],"work":[128],"discussion":[132],"future":[134],"challenges":[135],"domain.":[139]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}