{"id":"https://openalex.org/W4316876965","doi":"https://doi.org/10.1109/tai.2023.3237787","title":"Accelerating Point-Voxel Representation of 3-D Object Detection for Automatic Driving","display_name":"Accelerating Point-Voxel Representation of 3-D Object Detection for Automatic Driving","publication_year":2023,"publication_date":"2023-01-17","ids":{"openalex":"https://openalex.org/W4316876965","doi":"https://doi.org/10.1109/tai.2023.3237787"},"language":"en","primary_location":{"id":"doi:10.1109/tai.2023.3237787","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tai.2023.3237787","pdf_url":null,"source":{"id":"https://openalex.org/S4210169448","display_name":"IEEE Transactions on Artificial Intelligence","issn_l":"2691-4581","issn":["2691-4581"],"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 Transactions on Artificial Intelligence","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/A5009231268","display_name":"Jiecheng Cao","orcid":"https://orcid.org/0000-0001-5236-789X"},"institutions":[{"id":"https://openalex.org/I308837","display_name":"Suzhou University of Science and Technology","ror":"https://ror.org/04en8wb91","country_code":"CN","type":"education","lineage":["https://openalex.org/I308837"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"JieCheng Cao","raw_affiliation_strings":["School of Electronic and Information Engineering, Suzhou University of Science and Technology, Suzhou, China","School of Electronic and Information Engineering, Suzhou University of science and technology, Suzhou, Jiangsu, China"],"affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, Suzhou University of Science and Technology, Suzhou, China","institution_ids":["https://openalex.org/I308837"]},{"raw_affiliation_string":"School of Electronic and Information Engineering, Suzhou University of science and technology, Suzhou, Jiangsu, China","institution_ids":["https://openalex.org/I308837"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057226532","display_name":"Chongben Tao","orcid":"https://orcid.org/0000-0002-8196-9280"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]},{"id":"https://openalex.org/I308837","display_name":"Suzhou University of Science and Technology","ror":"https://ror.org/04en8wb91","country_code":"CN","type":"education","lineage":["https://openalex.org/I308837"]},{"id":"https://openalex.org/I4210125878","display_name":"Suzhou Research Institute","ror":"https://ror.org/03ebk0c60","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210125878"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chongben Tao","raw_affiliation_strings":["School of Electronic and Information Engineering, Suzhou University of Science and Technology, Suzhou, China","Suzhou Automobile Research Institute, Tsinghua University, Suzhou, Jiangsu, China","School of Electronic and Information Engineering, Suzhou University of science and technology, Suzhou, Jiangsu, China","College of Mechanical Engineering, Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, Suzhou University of Science and Technology, Suzhou, China","institution_ids":["https://openalex.org/I308837"]},{"raw_affiliation_string":"Suzhou Automobile Research Institute, Tsinghua University, Suzhou, Jiangsu, China","institution_ids":["https://openalex.org/I4210125878","https://openalex.org/I99065089"]},{"raw_affiliation_string":"School of Electronic and Information Engineering, Suzhou University of science and technology, Suzhou, Jiangsu, China","institution_ids":["https://openalex.org/I308837"]},{"raw_affiliation_string":"College of Mechanical Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081845663","display_name":"Zufeng Zhang","orcid":"https://orcid.org/0000-0002-6201-4606"},"institutions":[{"id":"https://openalex.org/I4210134970","display_name":"Wuhan Branch of the National Science Library","ror":"https://ror.org/046n0zq43","country_code":"CN","type":"archive","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210134970","https://openalex.org/I4210148850"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zufeng Zhang","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China","Wuhan Electronic Information Institute, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Wuhan Electronic Information Institute, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I4210134970"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100634507","display_name":"Zhen Gao","orcid":null},"institutions":[{"id":"https://openalex.org/I98251732","display_name":"McMaster University","ror":"https://ror.org/02fa3aq29","country_code":"CA","type":"education","lineage":["https://openalex.org/I98251732"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Zhen Gao","raw_affiliation_strings":["Faculty of Engineering, McMaster University, Hamilton, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, McMaster University, Hamilton, ON, Canada","institution_ids":["https://openalex.org/I98251732"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066189295","display_name":"Xizhao Luo","orcid":"https://orcid.org/0000-0002-4294-1365"},"institutions":[{"id":"https://openalex.org/I3923682","display_name":"Soochow University","ror":"https://ror.org/05t8y2r12","country_code":"CN","type":"education","lineage":["https://openalex.org/I3923682"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xizhao Luo","raw_affiliation_strings":["School of Computer Science and Technology, Soochow University, Suzhou, China","School of computer science and technology, Soochow University, Jiangsu, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Soochow University, Suzhou, China","institution_ids":["https://openalex.org/I3923682"]},{"raw_affiliation_string":"School of computer science and technology, Soochow University, Jiangsu, China","institution_ids":["https://openalex.org/I3923682"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036282981","display_name":"Sifa Zheng","orcid":"https://orcid.org/0000-0001-5160-1365"},"institutions":[{"id":"https://openalex.org/I4210125878","display_name":"Suzhou Research Institute","ror":"https://ror.org/03ebk0c60","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210125878"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sifa Zheng","raw_affiliation_strings":["Suzhou Automobile Research Institute, Tsinghua University, Suzhou, China","Suzhou Automobile Research Institute, Tsinghua University, Suzhou, Jiangsu, China"],"affiliations":[{"raw_affiliation_string":"Suzhou Automobile Research Institute, Tsinghua University, Suzhou, China","institution_ids":["https://openalex.org/I4210125878","https://openalex.org/I99065089"]},{"raw_affiliation_string":"Suzhou Automobile Research Institute, Tsinghua University, Suzhou, Jiangsu, China","institution_ids":["https://openalex.org/I4210125878","https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034764005","display_name":"Yuan Zhu","orcid":"https://orcid.org/0000-0003-4641-2847"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuan Zhu","raw_affiliation_strings":["College of Automotive Studies, Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"College of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5009231268"],"corresponding_institution_ids":["https://openalex.org/I308837"],"apc_list":null,"apc_paid":null,"fwci":1.9258,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.87821686,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"5","issue":"1","first_page":"254","last_page":"266"},"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":0.9988999962806702,"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/T11605","display_name":"Visual Attention and Saliency Detection","score":0.9969000220298767,"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/voxel","display_name":"Voxel","score":0.8582907915115356},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7757161855697632},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6161094903945923},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.520428478717804},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5198757648468018},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5064791440963745},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.47642001509666443},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4443775713443756},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4443690776824951},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4373341500759125},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4280933141708374},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4128063917160034},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14355194568634033}],"concepts":[{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.8582907915115356},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7757161855697632},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6161094903945923},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.520428478717804},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5198757648468018},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5064791440963745},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.47642001509666443},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4443775713443756},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4443690776824951},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4373341500759125},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4280933141708374},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4128063917160034},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14355194568634033},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tai.2023.3237787","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tai.2023.3237787","pdf_url":null,"source":{"id":"https://openalex.org/S4210169448","display_name":"IEEE Transactions on Artificial Intelligence","issn_l":"2691-4581","issn":["2691-4581"],"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 Transactions on Artificial Intelligence","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G254018693","display_name":null,"funder_award_id":"61801323","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6024908754","display_name":null,"funder_award_id":"2021M691848","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W2150066425","https://openalex.org/W2468368736","https://openalex.org/W2798965597","https://openalex.org/W2897529137","https://openalex.org/W2914821954","https://openalex.org/W2949708697","https://openalex.org/W2962807143","https://openalex.org/W2963263347","https://openalex.org/W2963351448","https://openalex.org/W2963400571","https://openalex.org/W2963727135","https://openalex.org/W2964062501","https://openalex.org/W2968296999","https://openalex.org/W2979912832","https://openalex.org/W3003618643","https://openalex.org/W3004237909","https://openalex.org/W3010797203","https://openalex.org/W3034314779","https://openalex.org/W3034602892","https://openalex.org/W3035172746","https://openalex.org/W3035346742","https://openalex.org/W3035461736","https://openalex.org/W3035574168","https://openalex.org/W3080980548","https://openalex.org/W3089401811","https://openalex.org/W3107212734","https://openalex.org/W3107422826","https://openalex.org/W3117804044","https://openalex.org/W3118250615","https://openalex.org/W3118341329","https://openalex.org/W3164543136","https://openalex.org/W3167095230","https://openalex.org/W3167732492","https://openalex.org/W3177276051","https://openalex.org/W3187016020","https://openalex.org/W3188046901","https://openalex.org/W3204217726","https://openalex.org/W4226246587","https://openalex.org/W4285139068","https://openalex.org/W4298001965","https://openalex.org/W4310078553","https://openalex.org/W4312713480","https://openalex.org/W4313153185","https://openalex.org/W6726497184","https://openalex.org/W6739778489","https://openalex.org/W6755742144","https://openalex.org/W6763422710","https://openalex.org/W6766799972","https://openalex.org/W6767379092","https://openalex.org/W6769571200","https://openalex.org/W6782947720","https://openalex.org/W6785213549","https://openalex.org/W6809883588"],"related_works":["https://openalex.org/W2378211422","https://openalex.org/W3027020613","https://openalex.org/W2745001401","https://openalex.org/W4321353415","https://openalex.org/W2016533837","https://openalex.org/W2130974462","https://openalex.org/W972276598","https://openalex.org/W4246352526","https://openalex.org/W2028665553","https://openalex.org/W2086519370"],"abstract_inverted_index":{"Current":[0],"point-voxel":[1],"fusion":[2],"methods":[3],"for":[4],"3D":[5,26,51],"object":[6,27,63],"detection":[7,28],"could":[8],"not":[9],"make":[10],"full":[11],"use":[12],"of":[13,19,39,61,80,101,119,130,137,151,159],"complementary":[14],"information":[15,60,84,114],"in":[16],"the":[17,54,90,99,102,112,128,131,140,152,167,172],"field":[18],"autonomous":[20],"driving.":[21],"Therefore,":[22],"a":[23,49],"novel":[24],"two-stage":[25],"method,":[29],"called":[30],"Accelerating":[31],"Point-Voxel":[32],"Representation":[33],"(APVR),":[34],"is":[35,71,123],"proposed.":[36],"The":[37,117,155],"advantages":[38],"Point-based":[40],"feature":[41,44],"and":[42,96,143,149,157],"Voxel-based":[43],"can":[45,85],"be":[46,86],"integrated":[47],"into":[48],"single":[50],"representation.":[52],"Thereby,":[53],"proposed":[55,153],"method":[56],"retains":[57],"more":[58],"fine-grained":[59,83],"an":[62],"while":[64,180],"maintaining":[65],"high":[66,182],"efficiency.":[67],"Specifically,":[68],"computational":[69],"cost":[70],"reduced":[72],"by":[73,88,164],"adding":[74],"offsets":[75],"to":[76,110,126],"query":[77],"neighboring":[78],"voxels":[79,95],"key-points.":[81,97,116],"More":[82],"obtained":[87],"calculating":[89],"matching":[91],"probability":[92],"between":[93,115],"neighbouring":[94],"During":[98],"optimization":[100],"prediction":[103,132,183],"boxes,":[104],"virtual":[105],"grid":[106],"points":[107],"are":[108],"set":[109],"capture":[111],"spatial":[113],"constraint":[118],"minimum":[120],"enclosing":[121],"rectangle":[122],"also":[124],"added":[125],"optimize":[127],"directions":[129],"boxes.":[133],"A":[134],"large":[135],"number":[136],"experiments":[138],"on":[139],"KITTI,":[141],"NuScenes":[142],"Waymo":[144],"datasets":[145],"demonstrate":[146],"great":[147],"generalizability":[148],"portability":[150],"approach.":[154],"effectiveness":[156],"efficiency":[158],"APVR":[160,170],"has":[161],"been":[162],"proved":[163],"comparisons":[165],"with":[166],"state-of-art":[168],"methods.":[169],"makes":[171],"real-time":[173],"processing":[174],"frame":[175],"rate":[176],"reach":[177],"40.4":[178],"Hz":[179],"ensuring":[181],"accuracy.":[184]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
