{"id":"https://openalex.org/W4408222505","doi":"https://doi.org/10.1109/robio64047.2024.10907665","title":"Learning-Based Subcategory Ground Segmentation Model for LiDAR Point Cloud","display_name":"Learning-Based Subcategory Ground Segmentation Model for LiDAR Point Cloud","publication_year":2024,"publication_date":"2024-12-10","ids":{"openalex":"https://openalex.org/W4408222505","doi":"https://doi.org/10.1109/robio64047.2024.10907665"},"language":"en","primary_location":{"id":"doi:10.1109/robio64047.2024.10907665","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907665","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5001401379","display_name":"Guoyang Zhao","orcid":"https://orcid.org/0000-0002-5916-7505"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Guoyang Zhao","raw_affiliation_strings":["The Hong Kong University of Science and Technology (Guangzhou),Robotics and Autonomous Systems Thrust,Guangzhou,China"],"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (Guangzhou),Robotics and Autonomous Systems Thrust,Guangzhou,China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051297619","display_name":"Fulong Ma","orcid":"https://orcid.org/0000-0002-3681-9611"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fulong Ma","raw_affiliation_strings":["The Hong Kong University of Science and Technology (Guangzhou),Robotics and Autonomous Systems Thrust,Guangzhou,China"],"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (Guangzhou),Robotics and Autonomous Systems Thrust,Guangzhou,China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102635982","display_name":"Weiqing Qi","orcid":"https://orcid.org/0000-0002-2610-4380"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Weiqing Qi","raw_affiliation_strings":["The Hong Kong University of Science and Technology (Guangzhou),Robotics and Autonomous Systems Thrust,Guangzhou,China"],"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (Guangzhou),Robotics and Autonomous Systems Thrust,Guangzhou,China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100347769","display_name":"Ming Liu","orcid":"https://orcid.org/0000-0002-1846-6445"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ming Liu","raw_affiliation_strings":["The Hong Kong University of Science and Technology (Guangzhou),Robotics and Autonomous Systems Thrust,Guangzhou,China"],"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (Guangzhou),Robotics and Autonomous Systems Thrust,Guangzhou,China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100678902","display_name":"Jun Ma","orcid":"https://orcid.org/0000-0003-0390-6265"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jun Ma","raw_affiliation_strings":["The Hong Kong University of Science and Technology (Guangzhou),Robotics and Autonomous Systems Thrust,Guangzhou,China"],"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (Guangzhou),Robotics and Autonomous Systems Thrust,Guangzhou,China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5001401379"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.23211973,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1323","last_page":"1328"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9708999991416931,"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":0.9708999991416931,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.8253883123397827},{"id":"https://openalex.org/keywords/subcategory","display_name":"Subcategory","score":0.7830768823623657},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7743690013885498},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6121529936790466},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5541712641716003},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.5389465093612671},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4570789635181427},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.4479786157608032},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4240511655807495},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39073053002357483},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.3464950919151306},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.30394017696380615},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1262885332107544},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09462246298789978}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8253883123397827},{"id":"https://openalex.org/C2780617661","wikidata":"https://www.wikidata.org/wiki/Q541563","display_name":"Subcategory","level":2,"score":0.7830768823623657},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7743690013885498},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6121529936790466},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5541712641716003},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.5389465093612671},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4570789635181427},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4479786157608032},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4240511655807495},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39073053002357483},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.3464950919151306},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.30394017696380615},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1262885332107544},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09462246298789978},{"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/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robio64047.2024.10907665","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907665","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-158774","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-158774","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":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W2051610568","https://openalex.org/W2085261163","https://openalex.org/W2115519229","https://openalex.org/W2115579991","https://openalex.org/W2614543743","https://openalex.org/W2737444374","https://openalex.org/W2904274854","https://openalex.org/W2963351448","https://openalex.org/W2963833733","https://openalex.org/W2968296999","https://openalex.org/W2990763144","https://openalex.org/W2991216808","https://openalex.org/W3082486589","https://openalex.org/W3130044230","https://openalex.org/W3137210930","https://openalex.org/W3158765037","https://openalex.org/W3176159010","https://openalex.org/W4312376118","https://openalex.org/W4317384028","https://openalex.org/W4389076346","https://openalex.org/W4400769386","https://openalex.org/W4401415892","https://openalex.org/W4407900325","https://openalex.org/W6739778489","https://openalex.org/W6763422710","https://openalex.org/W6781274669"],"related_works":["https://openalex.org/W4226068787","https://openalex.org/W2963366818","https://openalex.org/W3157916708","https://openalex.org/W1547238018","https://openalex.org/W4319317934","https://openalex.org/W4406302447","https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W4399442168","https://openalex.org/W2114282491"],"abstract_inverted_index":{"Ground":[0],"segmentation":[1,85,92,140,159],"based":[2],"on":[3,30,197],"LiDAR":[4,104],"point":[5,105],"clouds":[6],"is":[7,44,171],"one":[8],"of":[9,20,86,103,123,157],"the":[10,18,78,100,124,155,172,198],"crucial":[11],"tasks":[12],"in":[13,51,126,154,167],"3D":[14],"perception,":[15],"directly":[16],"impacting":[17],"recognition":[19],"traversable":[21],"areas":[22],"for":[23,39,185],"mobile":[24],"robots.":[25],"Current":[26],"mainstream":[27],"methods":[28,166],"rely":[29],"manually":[31],"designed":[32],"features":[33,122],"and":[34,68,119,141,160,164,191],"parameter":[35],"tuning,":[36],"requiring":[37],"adjustments":[38],"different":[40],"environments.":[41],"This":[42,54,170],"approach":[43],"not":[45,74],"only":[46,75],"time-consuming":[47],"but":[48,81],"also":[49,82],"results":[50,145],"unstable":[52],"robustness.":[53],"paper":[55],"proposes":[56],"a":[57,110,132],"model":[58,150],"named":[59],"GroundSeg,":[60],"which":[61],"uses":[62],"deep":[63],"learning":[64],"to":[65,98,115,136,175],"automatically":[66],"learn":[67],"extract":[69],"distinguishing":[70,121],"ground":[71,80,87,91,125,139,158,179],"features.":[72],"It":[73],"accurately":[76],"segments":[77],"overall":[79],"performs":[83],"semantic":[84],"subcategories.":[88],"In":[89],"our":[90,148],"model,":[93],"we":[94,130],"introduce":[95],"cylindrical":[96],"voxelization":[97],"match":[99],"physical":[101],"characteristics":[102],"clouds.":[106],"We":[107],"then":[108],"propose":[109],"Channel-Plane":[111],"Extraction":[112],"(CPE)":[113],"Module":[114],"ex-tract":[116],"both":[117],"local":[118],"global":[120],"three-dimensional":[127],"voxels.":[128],"Finally,":[129],"incorporate":[131],"class-balanced":[133],"loss":[134],"group":[135],"achieve":[137],"precise":[138],"subcategory":[142],"classification.":[143],"Experimental":[144],"show":[146],"that":[147],"proposed":[149],"has":[151],"significant":[152],"advantages":[153],"integrity":[156],"outperforms":[161],"existing":[162],"traditional":[163],"learning-based":[165],"F-l":[168],"score.":[169],"first":[173],"work":[174],"consider":[176],"refined":[177],"category":[178],"segmentation,":[180],"making":[181],"it":[182],"more":[183],"meaningful":[184],"practical":[186],"robotic":[187],"applications.":[188],"All":[189],"qualitative":[190],"quantitative":[192],"evaluation":[193],"experiments":[194],"were":[195],"conducted":[196],"standard":[199],"SemanticKITTI":[200],"dataset.":[201]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
