{"id":"https://openalex.org/W4408092263","doi":"https://doi.org/10.1109/tgrs.2025.3547388","title":"Revisiting the Learning Stage in Range View Representation for Autonomous Driving","display_name":"Revisiting the Learning Stage in Range View Representation for Autonomous Driving","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4408092263","doi":"https://doi.org/10.1109/tgrs.2025.3547388"},"language":"en","primary_location":{"id":"doi:10.1109/tgrs.2025.3547388","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tgrs.2025.3547388","pdf_url":null,"source":{"id":"https://openalex.org/S111326731","display_name":"IEEE Transactions on Geoscience and Remote Sensing","issn_l":"0196-2892","issn":["0196-2892","1558-0644"],"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 Geoscience and Remote Sensing","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/A5085306541","display_name":"Jinsheng Xiao","orcid":"https://orcid.org/0000-0002-5403-1895"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinsheng Xiao","raw_affiliation_strings":["School of Electronic Information, Wuhan University, Wuhan, China","School of Electronic Information, Wuhan University, China"],"raw_orcid":"https://orcid.org/0000-0002-5403-1895","affiliations":[{"raw_affiliation_string":"School of Electronic Information, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"School of Electronic Information, Wuhan University, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100440549","display_name":"Siyuan Wang","orcid":"https://orcid.org/0000-0002-5506-7451"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siyuan Wang","raw_affiliation_strings":["School of Electronic Information, Wuhan University, Wuhan, China","School of Electronic Information, Wuhan University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic Information, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"School of Electronic Information, Wuhan University, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088319346","display_name":"Jian Zhou","orcid":"https://orcid.org/0000-0001-6707-6542"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]},{"id":"https://openalex.org/I4210118728","display_name":"State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing","ror":"https://ror.org/02bpap860","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210118728"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Zhou","raw_affiliation_strings":["State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China","Surveying, Mapping and Remote Sensing, State Key Laboratory of Information Engineering, Wuhan University, China"],"raw_orcid":"https://orcid.org/0000-0001-6707-6542","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747","https://openalex.org/I4210118728"]},{"raw_affiliation_string":"Surveying, Mapping and Remote Sensing, State Key Laboratory of Information Engineering, Wuhan University, China","institution_ids":["https://openalex.org/I37461747","https://openalex.org/I4210118728"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005992961","display_name":"Ziyin Zeng","orcid":"https://orcid.org/0000-0002-6776-6663"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]},{"id":"https://openalex.org/I4210118728","display_name":"State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing","ror":"https://ror.org/02bpap860","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210118728"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziyin Zeng","raw_affiliation_strings":["State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China","Surveying, Mapping and Remote Sensing, State Key Laboratory of Information Engineering, Wuhan University, China"],"raw_orcid":"https://orcid.org/0000-0002-6776-6663","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747","https://openalex.org/I4210118728"]},{"raw_affiliation_string":"Surveying, Mapping and Remote Sensing, State Key Laboratory of Information Engineering, Wuhan University, China","institution_ids":["https://openalex.org/I37461747","https://openalex.org/I4210118728"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101358053","display_name":"Man Luo","orcid":"https://orcid.org/0009-0008-4395-5049"},"institutions":[{"id":"https://openalex.org/I4210153068","display_name":"Dongfeng Motor Group (China)","ror":"https://ror.org/055ar4y96","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210153068"]},{"id":"https://openalex.org/I4210158664","display_name":"Dongfeng Motor (China)","ror":"https://ror.org/049j15k39","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210158664"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Man Luo","raw_affiliation_strings":["Dongfeng Usharing Technology Company Ltd., Wuhan, China","Dongfeng USharing Technology Co, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dongfeng Usharing Technology Company Ltd., Wuhan, China","institution_ids":["https://openalex.org/I4210153068","https://openalex.org/I4210158664"]},{"raw_affiliation_string":"Dongfeng USharing Technology Co, Wuhan, China","institution_ids":["https://openalex.org/I4210153068"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064557837","display_name":"Ruijia Chen","orcid":"https://orcid.org/0000-0002-2759-9290"},"institutions":[{"id":"https://openalex.org/I4210153068","display_name":"Dongfeng Motor Group (China)","ror":"https://ror.org/055ar4y96","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210153068"]},{"id":"https://openalex.org/I4210158664","display_name":"Dongfeng Motor (China)","ror":"https://ror.org/049j15k39","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210158664"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruijia Chen","raw_affiliation_strings":["Dongfeng Usharing Technology Company Ltd., Wuhan, China","Dongfeng USharing Technology Co, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dongfeng Usharing Technology Company Ltd., Wuhan, China","institution_ids":["https://openalex.org/I4210153068","https://openalex.org/I4210158664"]},{"raw_affiliation_string":"Dongfeng USharing Technology Co, Wuhan, China","institution_ids":["https://openalex.org/I4210153068"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.2853,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.92143094,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"63","issue":null,"first_page":"1","last_page":"14"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.975600004196167,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.975600004196167,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9176999926567078,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/stage","display_name":"Stage (stratigraphy)","score":0.6080353260040283},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5967578887939453},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5228469967842102},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4797333776950836},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.4565339982509613},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4105967879295349},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.24924591183662415},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13411656022071838},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.11619064211845398}],"concepts":[{"id":"https://openalex.org/C146357865","wikidata":"https://www.wikidata.org/wiki/Q1123245","display_name":"Stage (stratigraphy)","level":2,"score":0.6080353260040283},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5967578887939453},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5228469967842102},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4797333776950836},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4565339982509613},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4105967879295349},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.24924591183662415},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13411656022071838},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.11619064211845398},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tgrs.2025.3547388","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tgrs.2025.3547388","pdf_url":null,"source":{"id":"https://openalex.org/S111326731","display_name":"IEEE Transactions on Geoscience and Remote Sensing","issn_l":"0196-2892","issn":["0196-2892","1558-0644"],"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 Geoscience and Remote Sensing","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8135976078","display_name":null,"funder_award_id":"42471490","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G903408162","display_name":null,"funder_award_id":"2024AFB778","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G975127713","display_name":null,"funder_award_id":"42471480","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W2963121255","https://openalex.org/W2990613095","https://openalex.org/W3003437478","https://openalex.org/W3012494314","https://openalex.org/W3035275207","https://openalex.org/W3095215747","https://openalex.org/W3107479685","https://openalex.org/W3109944402","https://openalex.org/W3119986872","https://openalex.org/W3137210930","https://openalex.org/W3174692508","https://openalex.org/W3177330511","https://openalex.org/W3198519842","https://openalex.org/W3198790326","https://openalex.org/W3206480303","https://openalex.org/W3206724875","https://openalex.org/W4224274660","https://openalex.org/W4285601475","https://openalex.org/W4292554355","https://openalex.org/W4293517970","https://openalex.org/W4293577719","https://openalex.org/W4312229467","https://openalex.org/W4362500593","https://openalex.org/W4386065344","https://openalex.org/W4386071758","https://openalex.org/W4386702620","https://openalex.org/W4387415324","https://openalex.org/W4388966707","https://openalex.org/W4389665312","https://openalex.org/W4390871794","https://openalex.org/W4391007469","https://openalex.org/W4392693642","https://openalex.org/W4394858311","https://openalex.org/W4402917217","https://openalex.org/W4403444097","https://openalex.org/W4405934373","https://openalex.org/W6763422710","https://openalex.org/W6765299845","https://openalex.org/W6766771393","https://openalex.org/W6784570366","https://openalex.org/W6788009311","https://openalex.org/W6811000488","https://openalex.org/W6839610933","https://openalex.org/W6859177800"],"related_works":["https://openalex.org/W2329386257","https://openalex.org/W2503350049","https://openalex.org/W2397616145","https://openalex.org/W2397320258","https://openalex.org/W4324058133","https://openalex.org/W2121524756","https://openalex.org/W2062195135","https://openalex.org/W648618910","https://openalex.org/W4393624937","https://openalex.org/W4296658948"],"abstract_inverted_index":{"LiDAR":[0,88],"segmentation":[1,60],"is":[2,105,150,239],"crucial":[3],"for":[4,15,235],"autonomous":[5],"driving":[6],"perception.":[7],"Range":[8],"view":[9,33,114],"methods":[10,115],"have":[11,48],"been":[12],"widely":[13],"adopted":[14],"these":[16,71,192],"applications":[17],"due":[18],"to":[19,56,84,107,116],"their":[20],"intuitiveness":[21],"and":[22,86,127,168,189,203,218],"ease":[23],"of":[24,30,44,111,120,178,201],"implementation.":[25],"However,":[26],"the":[27,31,41,49,82,109,160,171,179,211],"inherent":[28],"shortcomings":[29],"range":[32,46,92,113,216],"approach":[34,213],"(e.g.,":[35],"assuming":[36],"that":[37,79,210],"point":[38,89,130,162],"clouds":[39,90],"within":[40],"same":[42,50],"pixel":[43],"a":[45,96,139],"image":[47],"semantic":[51,156],"class)":[52],"make":[53],"it":[54],"difficult":[55],"perform":[57],"accurate":[58,126],"fine-grained":[59,155],"tasks,":[61],"thus":[62],"limiting":[63],"its":[64],"potential":[65],"in":[66],"practical":[67],"applications.":[68],"To":[69],"address":[70,108],"issues,":[72],"we":[73],"propose":[74],"RangeFusion,":[75],"an":[76],"end-to-end":[77],"framework":[78],"greatly":[80],"improves":[81],"ability":[83],"learn":[85],"process":[87],"from":[91],"views":[93],"by":[94,158],"employing":[95],"multispatial":[97],"learning":[98],"model.":[99],"A":[100],"novel":[101],"range-scan":[102],"space":[103,124],"(RSS)":[104],"proposed":[106,180,212],"inability":[110],"existing":[112,215],"accurately":[117],"aggregate":[118],"features":[119,172],"neighboring":[121,129],"points.":[122],"This":[123,208],"achieves":[125,153],"efficient":[128,223],"feature":[131,146],"aggregation":[132],"with":[133,173],"linear":[134],"time":[135],"complexity.":[136],"In":[137,228],"addition,":[138,229],"supervised":[140],"label":[141],"smoothing":[142],"method":[143,181],"called":[144],"multilevel":[145],"selection":[147],"heads":[148],"(MFSHs)":[149],"designed,":[151],"which":[152],"more":[154],"prediction":[157],"subdividing":[159],"full":[161],"cloud":[163],"into":[164],"multisemantic":[165],"hierarchical":[166],"subclouds":[167],"adaptively":[169],"fusing":[170],"confidence":[174],"filtering.":[175],"The":[176,237],"performance":[177,224],"was":[182],"evaluated":[183],"on":[184],"several":[185],"benchmarks,":[186],"including":[187],"SemanticKITTI":[188],"nuScenes.":[190],"On":[191],"two":[193],"datasets,":[194],"mean":[195],"intersection":[196],"over":[197],"union":[198],"(mIoU)":[199],"scores":[200],"67.9%":[202],"80.2%":[204],"were":[205,233],"achieved,":[206],"respectively.":[207],"demonstrates":[209],"outperforms":[214],"view-":[217],"multiview-based":[219],"approaches":[220],"while":[221],"maintaining":[222],"at":[225,241],"26.5":[226],"FPS.":[227],"real":[230],"road":[231],"data":[232],"collected":[234],"testing.":[236],"code":[238],"available":[240],"<uri":[242],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[243],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://github.com/Wansit99/RangeFusion</uri>.":[244]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":3}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}