{"id":"https://openalex.org/W4313124918","doi":"https://doi.org/10.1109/tim.2022.3224525","title":"RI-Fusion: 3D Object Detection Using Enhanced Point Features With Range-Image Fusion for Autonomous Driving","display_name":"RI-Fusion: 3D Object Detection Using Enhanced Point Features With Range-Image Fusion for Autonomous Driving","publication_year":2022,"publication_date":"2022-11-24","ids":{"openalex":"https://openalex.org/W4313124918","doi":"https://doi.org/10.1109/tim.2022.3224525"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2022.3224525","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2022.3224525","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","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/A5100390719","display_name":"Xinyu Zhang","orcid":"https://orcid.org/0000-0003-0034-9037"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]},{"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":true,"raw_author_name":"Xinyu Zhang","raw_affiliation_strings":["School of Transportation Science and Engineering, Beihang University, Beijing, China","State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Transportation Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035406850","display_name":"Li Wang","orcid":"https://orcid.org/0000-0002-9325-2391"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"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":"Li Wang","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy and the School of Vehicle and Mobility, Tsinghua University, Beijing, China","State Key Laboratory of Robotics and Systems, Harbin Institute of Technology (HIT), Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy and the School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology (HIT), Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086831268","display_name":"Guoxin Zhang","orcid":"https://orcid.org/0000-0002-0707-2176"},"institutions":[{"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":"Guoxin Zhang","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy and the School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy and the School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101721011","display_name":"Tianwei Lan","orcid":"https://orcid.org/0000-0002-8097-1805"},"institutions":[{"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":"Tianwei Lan","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy and the School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy and the School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101413203","display_name":"Haoming Zhang","orcid":"https://orcid.org/0000-0002-0610-4113"},"institutions":[{"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":"Haoming Zhang","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy and the School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy and the School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045865179","display_name":"Lijun Zhao","orcid":"https://orcid.org/0000-0002-9108-8276"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lijun Zhao","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100361751","display_name":"Jun Li","orcid":"https://orcid.org/0000-0002-0437-5112"},"institutions":[{"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":"Jun Li","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy and the School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy and the School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102823055","display_name":"Lei Zhu","orcid":"https://orcid.org/0000-0002-3827-1960"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lei Zhu","raw_affiliation_strings":["Mogo Auto Intelligence and Telemetics Information Technology Company Ltd, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Mogo Auto Intelligence and Telemetics Information Technology Company Ltd, Beijing, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041101317","display_name":"Huaping Liu","orcid":"https://orcid.org/0000-0002-4042-6044"},"institutions":[{"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":"Huaping Liu","raw_affiliation_strings":["State Key Laboratory of Intelligent Technology and the Systems and the Department of Computer Science and Technology, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Technology and the Systems and the Department of Computer Science and Technology, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5100390719"],"corresponding_institution_ids":["https://openalex.org/I82880672","https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":4.2798,"has_fulltext":false,"cited_by_count":43,"citation_normalized_percentile":{"value":0.95585377,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"72","issue":null,"first_page":"1","last_page":"13"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9986000061035156,"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":0.9986000061035156,"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9961000084877014,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9947999715805054,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.8238099217414856},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7985327839851379},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7349392175674438},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.730554461479187},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6691847443580627},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.667903482913971},{"id":"https://openalex.org/keywords/image-fusion","display_name":"Image fusion","score":0.5453554391860962},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5005810260772705},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4871044158935547},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4574018120765686},{"id":"https://openalex.org/keywords/image-sensor","display_name":"Image sensor","score":0.4149034917354584},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.38145357370376587},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.2593424916267395},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.244401752948761},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10198870301246643}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8238099217414856},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7985327839851379},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7349392175674438},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.730554461479187},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6691847443580627},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.667903482913971},{"id":"https://openalex.org/C69744172","wikidata":"https://www.wikidata.org/wiki/Q860822","display_name":"Image fusion","level":3,"score":0.5453554391860962},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5005810260772705},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4871044158935547},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4574018120765686},{"id":"https://openalex.org/C76935873","wikidata":"https://www.wikidata.org/wiki/Q209121","display_name":"Image sensor","level":2,"score":0.4149034917354584},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.38145357370376587},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.2593424916267395},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.244401752948761},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10198870301246643},{"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2022.3224525","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2022.3224525","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/15","display_name":"Life in Land","score":0.46000000834465027}],"awards":[{"id":"https://openalex.org/G1886647726","display_name":null,"funder_award_id":"2021M691780","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G5819421476","display_name":null,"funder_award_id":"U1964203","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6313768182","display_name":null,"funder_award_id":"62273198","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8572950106","display_name":null,"funder_award_id":"SKLRS-2022-KF-12","funder_id":"https://openalex.org/F4320321934","funder_display_name":"Haldia Institute of Technology"}],"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"},{"id":"https://openalex.org/F4320321934","display_name":"Haldia Institute of Technology","ror":"https://ror.org/0211bs523"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":67,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W2150066425","https://openalex.org/W2555618208","https://openalex.org/W2560609797","https://openalex.org/W2760327656","https://openalex.org/W2896014703","https://openalex.org/W2897529137","https://openalex.org/W2905173465","https://openalex.org/W2911486422","https://openalex.org/W2946113904","https://openalex.org/W2949708697","https://openalex.org/W2951517617","https://openalex.org/W2953205834","https://openalex.org/W2963121255","https://openalex.org/W2963727135","https://openalex.org/W2963840672","https://openalex.org/W2964062501","https://openalex.org/W2967324759","https://openalex.org/W2968296999","https://openalex.org/W2981689412","https://openalex.org/W2981949127","https://openalex.org/W2988715931","https://openalex.org/W3003437478","https://openalex.org/W3004237909","https://openalex.org/W3008105217","https://openalex.org/W3008115128","https://openalex.org/W3015248322","https://openalex.org/W3017930107","https://openalex.org/W3034236957","https://openalex.org/W3034314779","https://openalex.org/W3035172746","https://openalex.org/W3035461736","https://openalex.org/W3035574168","https://openalex.org/W3080980548","https://openalex.org/W3082617534","https://openalex.org/W3087988218","https://openalex.org/W3105073457","https://openalex.org/W3107819843","https://openalex.org/W3108426750","https://openalex.org/W3112288498","https://openalex.org/W3117804044","https://openalex.org/W3118242057","https://openalex.org/W3118479569","https://openalex.org/W3130463448","https://openalex.org/W3136022415","https://openalex.org/W3144619499","https://openalex.org/W3167095230","https://openalex.org/W3167539120","https://openalex.org/W3175563878","https://openalex.org/W3178544809","https://openalex.org/W3178887474","https://openalex.org/W3182476454","https://openalex.org/W3183430956","https://openalex.org/W3188470034","https://openalex.org/W3208394352","https://openalex.org/W3213561510","https://openalex.org/W4285298655","https://openalex.org/W4285742775","https://openalex.org/W6631190155","https://openalex.org/W6686211706","https://openalex.org/W6696085341","https://openalex.org/W6739778489","https://openalex.org/W6771471907","https://openalex.org/W6772253573","https://openalex.org/W6778129325","https://openalex.org/W6782947720","https://openalex.org/W6783596651"],"related_works":["https://openalex.org/W3016928466","https://openalex.org/W4389574804","https://openalex.org/W2936725271","https://openalex.org/W3150655618","https://openalex.org/W2295788148","https://openalex.org/W1578717197","https://openalex.org/W3108295644","https://openalex.org/W2626737336","https://openalex.org/W2005998065","https://openalex.org/W2562256921"],"abstract_inverted_index":{"The":[0,143,158,197],"3D":[1,194,205,220,236],"object":[2,195,206,221],"detection":[3,14,207],"is":[4,48,146,162],"becoming":[5],"indispensable":[6],"for":[7,32,248],"environmental":[8],"perception":[9],"in":[10],"autonomous":[11],"driving.":[12],"Light":[13],"and":[15,28,40,71,81,103,123,173,225,244,254],"ranging":[16],"(LiDAR)":[17],"point":[18,124,131,170,181,186],"clouds":[19],"often":[20,49],"fail":[21],"to":[22,54,78,96,107,168],"distinguish":[23],"objects":[24,250],"with":[25,51,149,165],"similar":[26],"structures":[27],"are":[29,176],"quite":[30],"sparse":[31],"distant":[33],"or":[34],"small":[35,249],"objects,":[36],"thereby":[37],"introducing":[38],"false":[39],"missed":[41],"detections.":[42],"To":[43,84],"address":[44],"these":[45],"issues,":[46],"LiDAR":[47,102],"fused":[50],"cameras":[52],"due":[53],"the":[55,67,174,184,203,235],"rich":[56],"textural":[57],"information":[58],"provided":[59],"by":[60,111,128,241],"images.":[61],"However,":[62],"current":[63],"fusion":[64,94,100,166,213],"methods":[65],"suffer":[66],"inefficient":[68],"data":[69],"representation":[70,137],"inaccurate":[72],"alignment":[73,126],"of":[74,101,199],"heterogeneous":[75],"features,":[76],"leading":[77],"poor":[79],"precision":[80],"low":[82],"efficiency.":[83],"this":[85,117],"end,":[86],"we":[87,119],"propose":[88],"a":[89,130,134,139,150,179,192],"plug-and-play":[90],"module":[91],"termed":[92],"range-image":[93],"(RI-Fusion)":[95],"achieve":[97],"an":[98,121,155],"effective":[99],"camera":[104,152],"data,":[105],"designed":[106],"be":[108,189],"easily":[109],"accessible":[110],"existing":[112],"mainstream":[113,218],"LiDAR-based":[114,193,219],"algorithms.":[115],"In":[116],"process,":[118],"design":[120],"image":[122,145,153,161],"cloud":[125,132,171,187],"method":[127,214],"converting":[129],"into":[133,191],"compact":[135],"range-view":[136],"through":[138],"spherical":[140],"coordinate":[141],"transformation.":[142],"range":[144,160],"then":[147,163],"integrated":[148],"corresponding":[151],"utilizing":[154],"attention":[156],"mechanism.":[157],"original":[159],"concatenated":[164],"features":[167],"retain":[169],"information,":[172],"results":[175,198],"projected":[177],"onto":[178],"spatial":[180],"cloud.":[182],"Finally,":[183],"feature-enhanced":[185],"can":[188],"input":[190],"detector.":[196],"validation":[200],"experiments":[201],"involving":[202],"KITTI":[204],"benchmark":[208],"showed":[209],"that":[210],"our":[211],"proposed":[212],"significantly":[215],"enhanced":[216],"multiple":[217],"detectors,":[222],"PointPillars,":[223],"SECOND,":[224],"Part":[226],"<inline-formula":[227],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[228],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[229],"<tex-math":[230],"notation=\"LaTeX\">$\\text{A}{^{2}}$":[231],"</tex-math></inline-formula>":[232],",":[233],"improving":[234],"mAP":[237],"(mean":[238],"Average":[239],"Precision)":[240],"3.61%,":[242],"2.98%,":[243],"1.27%,":[245],"respectively,":[246],"particularly":[247],"such":[251],"as":[252],"pedestrians":[253],"cyclists.":[255]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":9}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}