{"id":"https://openalex.org/W4321770545","doi":"https://doi.org/10.1109/tcsvt.2023.3248656","title":"Balanced Sample Assignment and Objective for Single-Model Multi-Class 3D Object Detection","display_name":"Balanced Sample Assignment and Objective for Single-Model Multi-Class 3D Object Detection","publication_year":2023,"publication_date":"2023-02-24","ids":{"openalex":"https://openalex.org/W4321770545","doi":"https://doi.org/10.1109/tcsvt.2023.3248656"},"language":"en","primary_location":{"id":"doi:10.1109/tcsvt.2023.3248656","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcsvt.2023.3248656","pdf_url":null,"source":{"id":"https://openalex.org/S115173108","display_name":"IEEE Transactions on Circuits and Systems for Video Technology","issn_l":"1051-8215","issn":["1051-8215","1558-2205"],"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 Circuits and Systems for Video Technology","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/A5049174317","display_name":"Weiping Xiao","orcid":"https://orcid.org/0000-0002-9717-5979"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiping Xiao","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China","Engineering Research Center of Unmanned Intelligent Marine Equipment of the Ministry of Education, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-9717-5979","affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"Engineering Research Center of Unmanned Intelligent Marine Equipment of the Ministry of Education, Shanghai, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100772740","display_name":"Yan Peng","orcid":"https://orcid.org/0000-0003-1312-9527"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Peng","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China","Engineering Research Center of Unmanned Intelligent Marine Equipment of the Ministry of Education, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-1312-9527","affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"Engineering Research Center of Unmanned Intelligent Marine Equipment of the Ministry of Education, Shanghai, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100353132","display_name":"Chang Liu","orcid":"https://orcid.org/0000-0001-5012-7921"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chang Liu","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China","Engineering Research Center of Unmanned Intelligent Marine Equipment of the Ministry of Education, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-5012-7921","affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"Engineering Research Center of Unmanned Intelligent Marine Equipment of the Ministry of Education, Shanghai, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027746769","display_name":"Jiantao Gao","orcid":"https://orcid.org/0000-0001-5057-0229"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiantao Gao","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China","Engineering Research Center of Unmanned Intelligent Marine Equipment of the Ministry of Education, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-5057-0229","affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"Engineering Research Center of Unmanned Intelligent Marine Equipment of the Ministry of Education, Shanghai, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005068484","display_name":"Yiqiang Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiqiang Wu","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China","Engineering Research Center of Unmanned Intelligent Marine Equipment of the Ministry of Education, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"Engineering Research Center of Unmanned Intelligent Marine Equipment of the Ministry of Education, Shanghai, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044546450","display_name":"Xiaomao Li","orcid":"https://orcid.org/0000-0002-4106-4858"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaomao Li","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China","Engineering Research Center of Unmanned Intelligent Marine Equipment of the Ministry of Education, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-4106-4858","affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"Engineering Research Center of Unmanned Intelligent Marine Equipment of the Ministry of Education, Shanghai, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.8174,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.94876806,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"33","issue":"9","first_page":"5036","last_page":"5048"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":1.0,"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":1.0,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9916999936103821,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9865999817848206,"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/computer-science","display_name":"Computer science","score":0.7393397092819214},{"id":"https://openalex.org/keywords/weighting","display_name":"Weighting","score":0.7187169790267944},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.630084753036499},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.6094424724578857},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5921362638473511},{"id":"https://openalex.org/keywords/normalization","display_name":"Normalization (sociology)","score":0.5843883752822876},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.5751704573631287},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.5639816522598267},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.5456683039665222},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4275129437446594},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.4219779074192047},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.40435469150543213},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37624770402908325}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7393397092819214},{"id":"https://openalex.org/C183115368","wikidata":"https://www.wikidata.org/wiki/Q856577","display_name":"Weighting","level":2,"score":0.7187169790267944},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.630084753036499},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.6094424724578857},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5921362638473511},{"id":"https://openalex.org/C136886441","wikidata":"https://www.wikidata.org/wiki/Q926129","display_name":"Normalization (sociology)","level":2,"score":0.5843883752822876},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.5751704573631287},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.5639816522598267},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.5456683039665222},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4275129437446594},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.4219779074192047},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.40435469150543213},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37624770402908325},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","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/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C19165224","wikidata":"https://www.wikidata.org/wiki/Q23404","display_name":"Anthropology","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcsvt.2023.3248656","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcsvt.2023.3248656","pdf_url":null,"source":{"id":"https://openalex.org/S115173108","display_name":"IEEE Transactions on Circuits and Systems for Video Technology","issn_l":"1051-8215","issn":["1051-8215","1558-2205"],"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 Circuits and Systems for Video Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6299999952316284,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G3852915482","display_name":null,"funder_award_id":"62225308","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6960691626","display_name":null,"funder_award_id":"2020YFC1521703","funder_id":"https://openalex.org/F4320321540","funder_display_name":"Ministry of Science and Technology of the People's Republic of China"},{"id":"https://openalex.org/G8955585264","display_name":null,"funder_award_id":"61991415","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"},{"id":"https://openalex.org/F4320321540","display_name":"Ministry of Science and Technology of the People's Republic of China","ror":"https://ror.org/027s68j25"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W148669889","https://openalex.org/W2150066425","https://openalex.org/W2555618208","https://openalex.org/W2897529137","https://openalex.org/W2911486422","https://openalex.org/W2949708697","https://openalex.org/W2963351448","https://openalex.org/W2963587345","https://openalex.org/W2963727135","https://openalex.org/W2964062501","https://openalex.org/W2968296999","https://openalex.org/W2981949127","https://openalex.org/W2997814983","https://openalex.org/W3004237909","https://openalex.org/W3008105217","https://openalex.org/W3016916515","https://openalex.org/W3033591146","https://openalex.org/W3034314779","https://openalex.org/W3034602892","https://openalex.org/W3034681945","https://openalex.org/W3035172746","https://openalex.org/W3035346742","https://openalex.org/W3035461736","https://openalex.org/W3092663126","https://openalex.org/W3105126405","https://openalex.org/W3109675406","https://openalex.org/W3113028524","https://openalex.org/W3118341329","https://openalex.org/W3164543136","https://openalex.org/W3167095230","https://openalex.org/W3167732492","https://openalex.org/W3172087149","https://openalex.org/W3174654838","https://openalex.org/W3188046901","https://openalex.org/W3205005447","https://openalex.org/W4297194783","https://openalex.org/W4310078553","https://openalex.org/W4312437143","https://openalex.org/W4312934050","https://openalex.org/W4313047605","https://openalex.org/W6631190155","https://openalex.org/W6686211706","https://openalex.org/W6779586474","https://openalex.org/W6797589674"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W4281783339","https://openalex.org/W1964041166","https://openalex.org/W4390887692","https://openalex.org/W4390721878"],"abstract_inverted_index":{"Accurately":[0],"detecting":[1],"multi-class":[2,35,77],"objects":[3,42,140],"in":[4,27,60,177,184],"a":[5,75],"single":[6],"pass":[7],"is":[8,47,95],"critical":[9],"but":[10,31],"challenging":[11,158],"for":[12,103],"real-world":[13],"autonomous":[14],"driving":[15],"scenarios.":[16],"Several":[17],"single-class":[18],"anchor-based":[19],"methods":[20],"have":[21],"recently":[22],"achieved":[23],"the":[24,28,52,61,66,90,108,118,120,135,147,151,157,168,202],"state-of-the-art":[25,172],"performance":[26,39,111,169],"car":[29],"category,":[30],"when":[32],"extending":[33],"to":[34,97,107],"detection":[36],"tasks,":[37],"their":[38],"on":[40,131,146,193,201],"small":[41],"(i.e.,":[43],"pedestrians":[44,178],"and":[45,65,85,112,129,156,179],"cyclists)":[46],"limited.":[48],"We":[49],"find":[50],"that":[51,55,163],"core":[53],"problem":[54],"causes":[56],"this":[57,71],"phenomenon":[58],"lies":[59],"unbalanced":[62],"sample":[63,83,92,110],"quality":[64],"classification":[67,122],"objective.":[68],"To":[69],"address":[70],"problem,":[72],"we":[73],"proposed":[74],"single-model":[76],"3D":[78],"object":[79],"detector":[80],"with":[81,117,141],"balanced":[82],"assignment":[84,93],"objective,":[86],"named":[87],"BSAODet.":[88],"Specifically,":[89],"quality-balanced":[91],"(QBSA)":[94],"introduced":[96],"dynamically":[98],"collect":[99],"stable":[100],"high-quality":[101],"samples":[102],"each":[104],"class":[105],"according":[106],"predicted":[109],"geometric":[113],"constraints.":[114],"In":[115],"conjunction":[116],"QBSA,":[119],"class-balanced":[121],"objective":[123],"(CBCO)":[124],"performs":[125],"instance-wise":[126],"label":[127],"normalization":[128],"weighting":[130],"positive":[132],"samples,":[133],"preventing":[134],"model":[136,189],"from":[137],"biasing":[138],"toward":[139],"more":[142],"samples.":[143],"Extensive":[144],"experiments":[145],"popular":[148],"KITTI":[149,203],"dataset,":[150,155],"latest":[152],"large-scale":[153],"ONCE":[154],"Waymo":[159],"Open":[160],"Dataset":[161],"show":[162],"our":[164,187],"method":[165],"steadily":[166],"improves":[167],"of":[170],"current":[171],"detectors":[173,200],"by":[174],"2\u20137":[175],"mAP":[176,192],"cyclists":[180],"while":[181],"maintaining":[182],"competitiveness":[183],"cars.":[185],"Moreover,":[186],"best":[188],"achieves":[190],"66.31":[191],"three":[194],"classes,":[195],"outperforming":[196],"all":[197],"published":[198],"LiDAR-only":[199],"benchmark.":[204]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}