{"id":"https://openalex.org/W3197033868","doi":"https://doi.org/10.1109/rcar52367.2021.9517443","title":"Complementary Multi-Branch CNNs Towards Real-World 3D Point Classification","display_name":"Complementary Multi-Branch CNNs Towards Real-World 3D Point Classification","publication_year":2021,"publication_date":"2021-07-15","ids":{"openalex":"https://openalex.org/W3197033868","doi":"https://doi.org/10.1109/rcar52367.2021.9517443","mag":"3197033868"},"language":"en","primary_location":{"id":"doi:10.1109/rcar52367.2021.9517443","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar52367.2021.9517443","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-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/A5064249853","display_name":"Zifeng Tang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zifeng Tang","raw_affiliation_strings":["CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institute of Advanced Technology, Chinese Academy of Science, China","The Chinese University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institute of Advanced Technology, Chinese Academy of Science, China","institution_ids":["https://openalex.org/I4210145761"]},{"raw_affiliation_string":"The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100604062","display_name":"Fusheng Hao","orcid":"https://orcid.org/0000-0003-1490-2235"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fusheng Hao","raw_affiliation_strings":["CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institute of Advanced Technology, Chinese Academy of Science, China","The Chinese University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institute of Advanced Technology, Chinese Academy of Science, China","institution_ids":["https://openalex.org/I4210145761"]},{"raw_affiliation_string":"The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011954673","display_name":"Qieshi Zhang","orcid":"https://orcid.org/0000-0001-6358-1840"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qieshi Zhang","raw_affiliation_strings":["CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institute of Advanced Technology, Chinese Academy of Science, China","The Chinese University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institute of Advanced Technology, Chinese Academy of Science, China","institution_ids":["https://openalex.org/I4210145761"]},{"raw_affiliation_string":"The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008282602","display_name":"Jun Cheng","orcid":"https://orcid.org/0000-0001-5493-961X"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Cheng","raw_affiliation_strings":["CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institute of Advanced Technology, Chinese Academy of Science, China","The Chinese University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institute of Advanced Technology, Chinese Academy of Science, China","institution_ids":["https://openalex.org/I4210145761"]},{"raw_affiliation_string":"The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100735527","display_name":"Jin Zhang","orcid":"https://orcid.org/0000-0001-9001-1931"},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jin Zhang","raw_affiliation_strings":["College of Computer Science and Software Engineering, Shenzhen University, China"],"affiliations":[{"raw_affiliation_string":"College of Computer Science and Software Engineering, Shenzhen University, China","institution_ids":["https://openalex.org/I180726961"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000354437","display_name":"Shuai Yuan","orcid":"https://orcid.org/0000-0002-8942-0145"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuai Yuan","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Guangdong University of Technology, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Guangdong University of Technology, China","institution_ids":["https://openalex.org/I139024713"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5064249853"],"corresponding_institution_ids":["https://openalex.org/I177725633","https://openalex.org/I4210145761"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.12952225,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"869","last_page":"874"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9998999834060669,"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"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.998199999332428,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9959999918937683,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8189464807510376},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7100720405578613},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.6447978019714355},{"id":"https://openalex.org/keywords/kernel","display_name":"Kernel (algebra)","score":0.521766722202301},{"id":"https://openalex.org/keywords/search-engine-indexing","display_name":"Search engine indexing","score":0.5164673328399658},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.49603471159935},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4878399670124054},{"id":"https://openalex.org/keywords/convolution","display_name":"Convolution (computer science)","score":0.47798269987106323},{"id":"https://openalex.org/keywords/pointwise","display_name":"Pointwise","score":0.44847533106803894},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.4336610436439514},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.4332912266254425},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.39421963691711426},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.30288177728652954}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8189464807510376},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7100720405578613},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.6447978019714355},{"id":"https://openalex.org/C74193536","wikidata":"https://www.wikidata.org/wiki/Q574844","display_name":"Kernel (algebra)","level":2,"score":0.521766722202301},{"id":"https://openalex.org/C75165309","wikidata":"https://www.wikidata.org/wiki/Q2258979","display_name":"Search engine indexing","level":2,"score":0.5164673328399658},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.49603471159935},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4878399670124054},{"id":"https://openalex.org/C45347329","wikidata":"https://www.wikidata.org/wiki/Q5166604","display_name":"Convolution (computer science)","level":3,"score":0.47798269987106323},{"id":"https://openalex.org/C2777984123","wikidata":"https://www.wikidata.org/wiki/Q9248237","display_name":"Pointwise","level":2,"score":0.44847533106803894},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.4336610436439514},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.4332912266254425},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.39421963691711426},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.30288177728652954},{"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},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar52367.2021.9517443","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar52367.2021.9517443","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4699999988079071,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[{"id":"https://openalex.org/G1326237774","display_name":null,"funder_award_id":"2019B090915001","funder_id":"https://openalex.org/F4320336405","funder_display_name":"Special Project for Research and Development in Key areas of Guangdong Province"},{"id":"https://openalex.org/G2270136502","display_name":null,"funder_award_id":"U1913202,U1813205,U1713213","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5114711066","display_name":null,"funder_award_id":"JCYJ20180507182610734,JSGG20191129094012321","funder_id":"https://openalex.org/F4320335804","funder_display_name":"Shenzhen Technology Development Program"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335804","display_name":"Shenzhen Technology Development Program","ror":null},{"id":"https://openalex.org/F4320336405","display_name":"Special Project for Research and Development in Key areas of Guangdong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1920022804","https://openalex.org/W2279221249","https://openalex.org/W2464708700","https://openalex.org/W2560609797","https://openalex.org/W2594519801","https://openalex.org/W2810240468","https://openalex.org/W2902302021","https://openalex.org/W2954258401","https://openalex.org/W2962928871","https://openalex.org/W2963121255","https://openalex.org/W2963158438","https://openalex.org/W2963278046","https://openalex.org/W2963719584","https://openalex.org/W2963830382","https://openalex.org/W2972374841","https://openalex.org/W2979750740","https://openalex.org/W2981440248","https://openalex.org/W2990613095","https://openalex.org/W2996167479","https://openalex.org/W2999575777","https://openalex.org/W3020223641","https://openalex.org/W3039448353","https://openalex.org/W4297688279","https://openalex.org/W6640300118","https://openalex.org/W6694954494","https://openalex.org/W6739778489","https://openalex.org/W6750189863","https://openalex.org/W6763422710","https://openalex.org/W6765299845","https://openalex.org/W6769516661","https://openalex.org/W6780360855"],"related_works":["https://openalex.org/W2140020064","https://openalex.org/W3000097931","https://openalex.org/W2354322770","https://openalex.org/W143502885","https://openalex.org/W4237547500","https://openalex.org/W42113618","https://openalex.org/W1570848052","https://openalex.org/W2103468410","https://openalex.org/W4361003569","https://openalex.org/W2981421796"],"abstract_inverted_index":{"Autonomous":[0],"driving":[1],"requires":[2],"precise":[3],"and":[4,43,67,72,146,158],"efficient":[5,176],"point":[6,210],"clouds":[7,211],"processing":[8],"techniques,":[9],"where":[10],"deep":[11],"learning":[12],"has":[13],"shown":[14],"great":[15],"potential.":[16],"Nonetheless,":[17],"most":[18,77],"of":[19,70,82,88,134,162,193,216],"the":[20,36,64,80,83,89,123,139,160,163,170,182,191,207],"existing":[21,40],"works":[22],"achieve":[23],"high":[24,54,129],"accuracy":[25],"in":[26,32,156,218],"synthetic":[27],"data":[28],"while":[29,86,127,213],"performing":[30],"unsatisfactorily":[31],"real-world":[33,208],"datasets.":[34],"On":[35],"other":[37],"hand,":[38],"though":[39],"multi-view-based,":[41],"volumetric-based,":[42],"point-based":[44,90,140],"methods":[45,74],"have":[46],"achieved":[47],"promising":[48],"results,":[49],"they":[50],"still":[51],"suffer":[52],"from":[53,185],"computational":[55,65],"complexity":[56],"or":[57],"low":[58],"memory":[59,68,99],"utilization":[60],"efficiency.":[61,130],"For":[62],"example,":[63],"time":[66],"consumption":[69],"multi-view-based":[71],"volumetric-based":[73],"increase":[75],"at":[76],"cubically":[78],"with":[79],"increasing":[81],"input":[84],"resolution,":[85],"half":[87],"methods&#x0027;s":[91],"runtime":[92,217],"is":[93,136,167],"wasted":[94],"due":[95],"to":[96,110,137,153,169,180],"their":[97],"irregular":[98],"access.":[100],"To":[101],"address":[102],"these":[103],"issues,":[104],"we":[105,173],"propose":[106],"a":[107,143,150,195],"novel":[108],"method":[109],"fuse":[111],"complementary":[112],"CNNs,":[113],"dubbed":[114],"as":[115,142,149],"Multi-Branch":[116],"Convolutional":[117],"Neural":[118],"Networks":[119],"(MBCNN),":[120],"which":[121,166],"achieves":[122,203],"current":[124],"state-of-the-art":[125,204],"performance":[126,205],"maintaining":[128],"The":[131],"underlying":[132],"design":[133,174],"MBCNN":[135,202],"utilize":[138],"convolution":[141,148],"local-feature":[144],"branch":[145],"spherical":[147],"global-feature":[151],"branch,":[152],"capture":[154],"patterns":[155],"space":[157],"exploit":[159],"merit":[161],"pointwise":[164],"MLP,":[165],"robust":[168],"perturbation.":[171],"Besides,":[172],"an":[175],"voxel-based":[177],"indexing":[178],"technique":[179],"prevent":[181],"feature-extracting":[183],"phase":[184],"being":[186],"blocked,":[187],"thus":[188],"significantly":[189],"accelerating":[190],"procedure":[192],"finding":[194],"point&#x0027;s":[196],"neighbor.":[197],"Experimental":[198],"results":[199],"show":[200],"that":[201],"on":[206],"3D":[209],"dataset":[212],"reducing":[214],"30&#x0025;":[215],"neighbor":[219],"indexing.":[220]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
