{"id":"https://openalex.org/W4393118308","doi":"https://doi.org/10.1109/tase.2026.3690663","title":"Soft-Masked Transformer for Point Cloud Processing With Skip Attention-Based Upsampling","display_name":"Soft-Masked Transformer for Point Cloud Processing With Skip Attention-Based Upsampling","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W4393118308","doi":"https://doi.org/10.1109/tase.2026.3690663"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2026.3690663","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3690663","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2403.14124","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100317271","display_name":"Yong He","orcid":null},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong He","raw_affiliation_strings":["School of Artificial Intelligence, Anhui University, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0003-2916-3068","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100297908","display_name":"Hongshan Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I283854653","display_name":"Machine Intelligence Research Institute","ror":"https://ror.org/01h4ass90","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I283854653"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hongshan Yu","raw_affiliation_strings":["School of Artificial Intelligence and Robotics, Quanzhou Institute of Industrial Design and Machine Intelligence Innovation, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0003-1973-6766","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Robotics, Quanzhou Institute of Industrial Design and Machine Intelligence Innovation, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I283854653"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Chaoxu Mu","orcid":"https://orcid.org/0000-0003-1055-9513"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaoxu Mu","raw_affiliation_strings":["School of Electrical Automation and Information Engineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-1055-9513","affiliations":[{"raw_affiliation_string":"School of Electrical Automation and Information Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Mingtao Feng","orcid":"https://orcid.org/0000-0003-0384-3743"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingtao Feng","raw_affiliation_strings":["School of Artificial Intelligence, Xidian University, Xi&#x2019;an, China"],"raw_orcid":"https://orcid.org/0000-0003-0384-3743","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, Xidian University, Xi&#x2019;an, China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109694828","display_name":"Tongjia Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I283854653","display_name":"Machine Intelligence Research Institute","ror":"https://ror.org/01h4ass90","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I283854653"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tongjia Chen","raw_affiliation_strings":["School of Artificial Intelligence and Robotics, Quanzhou Institute of Industrial Design and Machine Intelligence Innovation, Hunan University, Changsha, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Robotics, Quanzhou Institute of Industrial Design and Machine Intelligence Innovation, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I283854653"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zechuan Li","orcid":"https://orcid.org/0009-0003-4715-703X"},"institutions":[{"id":"https://openalex.org/I283854653","display_name":"Machine Intelligence Research Institute","ror":"https://ror.org/01h4ass90","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I283854653"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zechuan Li","raw_affiliation_strings":["School of Artificial Intelligence and Robotics, Quanzhou Institute of Industrial Design and Machine Intelligence Innovation, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0009-0003-4715-703X","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Robotics, Quanzhou Institute of Industrial Design and Machine Intelligence Innovation, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I283854653"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030762278","display_name":"Anwaar Ulhaq","orcid":"https://orcid.org/0000-0002-5145-7276"},"institutions":[{"id":"https://openalex.org/I74899385","display_name":"Central Queensland University","ror":"https://ror.org/023q4bk22","country_code":"AU","type":"education","lineage":["https://openalex.org/I74899385"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Anwaar Ulhaq","raw_affiliation_strings":["School of Engineering and Technology, Central Queensland University, Sydney, NSW, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering and Technology, Central Queensland University, Sydney, NSW, Australia","institution_ids":["https://openalex.org/I74899385"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089986388","display_name":"Ajmal Mian","orcid":"https://orcid.org/0000-0002-5206-3842"},"institutions":[{"id":"https://openalex.org/I177877127","display_name":"The University of Western Australia","ror":"https://ror.org/047272k79","country_code":"AU","type":"education","lineage":["https://openalex.org/I177877127"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Ajmal Mian","raw_affiliation_strings":["Department of Computer Science, The University of Western Australia, Perth, WA, Australia"],"raw_orcid":"https://orcid.org/0000-0002-5206-3842","affiliations":[{"raw_affiliation_string":"Department of Computer Science, The University of Western Australia, Perth, WA, Australia","institution_ids":["https://openalex.org/I177877127"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.00198654,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"23","issue":null,"first_page":"10628","last_page":"10639"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10638","display_name":"Optical measurement and interference techniques","score":0.9993000030517578,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9993000030517578,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.986299991607666,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/upsampling","display_name":"Upsampling","score":0.7760196328163147},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5324322581291199},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.5106661915779114},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.482426255941391},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2243075668811798},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.14822199940681458},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09675699472427368}],"concepts":[{"id":"https://openalex.org/C110384440","wikidata":"https://www.wikidata.org/wiki/Q1143270","display_name":"Upsampling","level":3,"score":0.7760196328163147},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5324322581291199},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.5106661915779114},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.482426255941391},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2243075668811798},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.14822199940681458},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09675699472427368},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tase.2026.3690663","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3690663","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2403.14124","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2403.14124","pdf_url":"https://arxiv.org/pdf/2403.14124","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},{"id":"pmh:doi:10.48550/arxiv.2403.14124","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2403.14124","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2403.14124","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2403.14124","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2403.14124","pdf_url":"https://arxiv.org/pdf/2403.14124","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3390150364","display_name":null,"funder_award_id":"U2013203","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4128808019","display_name":null,"funder_award_id":"62373140","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5258257467","display_name":null,"funder_award_id":"U21A20487","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7538248125","display_name":null,"funder_award_id":"2023YFB4704500","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4393118308.pdf"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2062399876","https://openalex.org/W2607795551","https://openalex.org/W3155117723","https://openalex.org/W1991429770","https://openalex.org/W1983892167","https://openalex.org/W2281134365","https://openalex.org/W4310746709","https://openalex.org/W4306309518","https://openalex.org/W3176213335"],"abstract_inverted_index":{"Point":[0],"cloud":[1,211],"processing":[2,212],"methods":[3,171,230],"leverage":[4],"local":[5],"and":[6,66,83,110,120,161,180,202,221,244,258,277,286,298],"global":[7],"point":[8,24,136],"features":[9,79,102],"to":[10,12,68,74,146,209,262,288],"cater":[11],"downstream":[13],"tasks,":[14],"yet":[15],"they":[16],"often":[17,231],"overlook":[18],"the":[19,27,37,70,81,108,115,125,128,148,153,176],"task-level":[20,34,51,64,253],"context":[21],"inherent":[22],"in":[23,86,117,246],"clouds":[25],"during":[26],"encoding":[28,38,82,109,138],"stage.":[29],"We":[30],"argue":[31],"that":[32,44],"integrating":[33],"information":[35,52,151],"into":[36,53,255],"stage":[39],"significantly":[40],"enhances":[41],"performance.":[42],"To":[43,113],"end,":[45],"we":[46,92,131,189],"propose":[47,132],"SMTransformer":[48,179,251],"which":[49],"incorporates":[50],"a":[54,59,94,133],"vector-based":[55],"transformer":[56,144],"by":[57],"utilizing":[58],"soft":[60],"mask":[61],"generated":[62],"from":[63,80,103,124],"queries":[65],"keys":[67],"learn":[69],"attention":[71],"weights.":[72],"Additionally,":[73],"facilitate":[75],"effective":[76],"communication":[77],"between":[78],"decoding":[84,111],"layers":[85],"high-level":[87],"tasks":[88,215],"such":[89,216],"as":[90,217],"segmentation,":[91],"introduce":[93],"skip-attention-based":[95,181],"up-sampling":[96,182,261],"block.":[97],"This":[98,140],"block":[99],"dynamically":[100],"fuses":[101],"various":[104,143],"resolution":[105,155],"points":[106],"across":[107],"layers.":[112],"mitigate":[114],"increase":[116],"network":[118,159],"parameters":[119,160],"training":[121,162],"time":[122,163],"resulting":[123],"complexity":[126],"of":[127,178,195],"aforementioned":[129],"blocks,":[130],"novel":[134],"shared":[135],"position":[137,150],"strategy.":[139],"strategy":[141],"allows":[142],"blocks":[145],"share":[147],"same":[149,154],"over":[152],"points,":[156],"thereby":[157],"reducing":[158],"without":[164],"compromising":[165],"accuracy.":[166],"Experimental":[167],"comparisons":[168],"with":[169,266],"existing":[170],"on":[172,198,205,241,284],"multiple":[173],"datasets":[174],"demonstrate":[175],"efficacy":[177],"for":[183,272],"semantic":[184,192],"segmentation":[185,193,264],"task.":[186],"In":[187],"particular,":[188],"achieve":[190],"state-of-the-art":[191],"results":[194],"73.9%":[196],"mIoU":[197,204],"S3DIS":[199],"Area":[200],"5":[201],"62.4%":[203],"SWAN":[206],"dataset.":[207],"Note":[208],"Practitioners\u2014Point":[210],"underpins":[213],"automation":[214,237],"robotic":[218,273],"perception,":[219],"navigation,":[220],"inspection,":[222],"where":[223],"accurate":[224],"3D":[225],"understanding":[226],"is":[227,270],"essential.":[228],"Existing":[229],"prioritize":[232],"vision":[233],"benchmarks":[234],"while":[235],"overlooking":[236],"needs":[238],"like":[239],"efficiency":[240],"limited":[242],"hardware":[243],"robustness":[245],"real-world":[247],"environments.":[248],"The":[249],"proposed":[250],"embeds":[252],"guidance":[254],"feature":[256],"learning":[257],"employs":[259],"skip-attention":[260],"improve":[263],"accuracy":[265],"practical":[267],"efficiency.":[268],"It":[269],"well-suited":[271],"manipulation,":[274],"autonomous":[275],"driving,":[276],"inspection":[278],"applications.":[279],"Current":[280],"limitations":[281],"include":[282],"reliance":[283],"GPUs":[285],"sensitivity":[287],"extreme":[289],"density":[290],"variations.":[291],"Future":[292],"work":[293],"will":[294],"target":[295],"edge-device":[296],"deployment":[297],"multi-task":[299],"extensions.":[300]},"counts_by_year":[],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
