{"id":"https://openalex.org/W4387010811","doi":"https://doi.org/10.1109/tim.2023.3318680","title":"NSAW: An Efficient and Accurate Transformer for Vehicle LiDAR Object Detection","display_name":"NSAW: An Efficient and Accurate Transformer for Vehicle LiDAR Object Detection","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4387010811","doi":"https://doi.org/10.1109/tim.2023.3318680"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2023.3318680","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2023.3318680","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/A5017706217","display_name":"Yujie Hu","orcid":"https://orcid.org/0000-0002-7826-2102"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yujie Hu","raw_affiliation_strings":["MOE Engineering Research Center of Smart Microsensors and Microsystems, School of Electronics and Information, Hangzhou Dianzi University, Hangzhou, China","School of Electronics and Information, MOE Engineering Research Center of Smart Microsensors and Microsystems, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-7826-2102","affiliations":[{"raw_affiliation_string":"MOE Engineering Research Center of Smart Microsensors and Microsystems, School of Electronics and Information, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"School of Electronics and Information, MOE Engineering Research Center of Smart Microsensors and Microsystems, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101965266","display_name":"Shaoxian Li","orcid":"https://orcid.org/0000-0002-2372-1455"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaoxian Li","raw_affiliation_strings":["MOE Engineering Research Center of Smart Microsensors and Microsystems, School of Electronics and Information, Hangzhou Dianzi University, Hangzhou, China","School of Electronics and Information, MOE Engineering Research Center of Smart Microsensors and Microsystems, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-2372-1455","affiliations":[{"raw_affiliation_string":"MOE Engineering Research Center of Smart Microsensors and Microsystems, School of Electronics and Information, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"School of Electronics and Information, MOE Engineering Research Center of Smart Microsensors and Microsystems, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041712546","display_name":"Wenchao Weng","orcid":"https://orcid.org/0000-0002-9677-3213"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenchao Weng","raw_affiliation_strings":["HDU-ITMO Joint Institute, Hangzhou Dianzi University, Hangzhou, China","School of Holy Light Machine, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-9677-3213","affiliations":[{"raw_affiliation_string":"HDU-ITMO Joint Institute, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"School of Holy Light Machine, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038032064","display_name":"Kuiwen Xu","orcid":"https://orcid.org/0000-0002-4943-5668"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kuiwen Xu","raw_affiliation_strings":["MOE Engineering Research Center of Smart Microsensors and Microsystems, School of Electronics and Information, Hangzhou Dianzi University, Hangzhou, China","School of Electronics and Information, MOE Engineering Research Center of Smart Microsensors and Microsystems, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-4943-5668","affiliations":[{"raw_affiliation_string":"MOE Engineering Research Center of Smart Microsensors and Microsystems, School of Electronics and Information, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"School of Electronics and Information, MOE Engineering Research Center of Smart Microsensors and Microsystems, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5114929531","display_name":"Gaofeng Wang","orcid":"https://orcid.org/0000-0001-8599-7249"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gaofeng Wang","raw_affiliation_strings":["MOE Engineering Research Center of Smart Microsensors and Microsystems, School of Electronics and Information, Hangzhou Dianzi University, Hangzhou, China","School of Electronics and Information, MOE Engineering Research Center of Smart Microsensors and Microsystems, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-8599-7249","affiliations":[{"raw_affiliation_string":"MOE Engineering Research Center of Smart Microsensors and Microsystems, School of Electronics and Information, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"School of Electronics and Information, MOE Engineering Research Center of Smart Microsensors and Microsystems, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I50760025"],"apc_list":null,"apc_paid":null,"fwci":0.5318,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.66886954,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":"72","issue":null,"first_page":"1","last_page":"10"},"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental 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":0.9983999729156494,"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":0.8350355625152588},{"id":"https://openalex.org/keywords/voxel","display_name":"Voxel","score":0.819806694984436},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7398092150688171},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7258015871047974},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6927601099014282},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6282753348350525},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5559572577476501},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.5464355945587158},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.40653568506240845},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.16421321034431458},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12896978855133057},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.124185711145401}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8350355625152588},{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.819806694984436},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7398092150688171},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7258015871047974},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6927601099014282},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6282753348350525},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5559572577476501},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.5464355945587158},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.40653568506240845},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.16421321034431458},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12896978855133057},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.124185711145401},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2023.3318680","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2023.3318680","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":0.4699999988079071}],"awards":[{"id":"https://openalex.org/G1022096228","display_name":null,"funder_award_id":"62141409","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":64,"referenced_works":["https://openalex.org/W854541894","https://openalex.org/W2118987544","https://openalex.org/W2150066425","https://openalex.org/W2194775991","https://openalex.org/W2468368736","https://openalex.org/W2555618208","https://openalex.org/W2560544142","https://openalex.org/W2560609797","https://openalex.org/W2798965597","https://openalex.org/W2896457183","https://openalex.org/W2897529137","https://openalex.org/W2914821954","https://openalex.org/W2949708697","https://openalex.org/W2963083779","https://openalex.org/W2963400571","https://openalex.org/W2963727135","https://openalex.org/W2963840672","https://openalex.org/W2967654291","https://openalex.org/W2968296999","https://openalex.org/W2970858672","https://openalex.org/W2998254148","https://openalex.org/W3015835112","https://openalex.org/W3017930107","https://openalex.org/W3034314779","https://openalex.org/W3034602892","https://openalex.org/W3036853234","https://openalex.org/W3038416168","https://openalex.org/W3107819843","https://openalex.org/W3111535274","https://openalex.org/W3118341329","https://openalex.org/W3121558549","https://openalex.org/W3127751679","https://openalex.org/W3129527613","https://openalex.org/W3130463448","https://openalex.org/W3134233478","https://openalex.org/W3136022415","https://openalex.org/W3138516171","https://openalex.org/W3153465022","https://openalex.org/W3162010298","https://openalex.org/W3166089996","https://openalex.org/W3166470370","https://openalex.org/W3170874841","https://openalex.org/W3183941844","https://openalex.org/W3201719054","https://openalex.org/W3202229469","https://openalex.org/W3203344299","https://openalex.org/W4205610425","https://openalex.org/W4206476362","https://openalex.org/W4214777292","https://openalex.org/W4224259431","https://openalex.org/W4226305814","https://openalex.org/W4285740874","https://openalex.org/W4292672215","https://openalex.org/W4293370823","https://openalex.org/W4385245566","https://openalex.org/W6623517193","https://openalex.org/W6696085341","https://openalex.org/W6739901393","https://openalex.org/W6755207826","https://openalex.org/W6779564934","https://openalex.org/W6788135285","https://openalex.org/W6790275670","https://openalex.org/W6791548515","https://openalex.org/W6811230113"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W2956374172","https://openalex.org/W1964041166","https://openalex.org/W4210818033","https://openalex.org/W4293094720","https://openalex.org/W2739701376"],"abstract_inverted_index":{"Nowadays,":[0],"light":[1],"detection":[2,51],"and":[3,21,28,38,44,60,130,153,172],"ranging":[4],"(LiDAR)":[5],"plays":[6],"an":[7,128],"important":[8],"role":[9],"in":[10],"environmental":[11],"perception":[12],"technology,":[13],"however,":[14,93],"LiDAR":[15],"can\u2019t":[16],"detect":[17,25],"some":[18,26],"blocked":[19],"objects,":[20],"it":[22,104],"can":[23,53,65,78,168],"even":[24],"incorrect":[27],"unimportant":[29],"objects":[30,33],"as":[31],"target":[32],"due":[34],"to":[35,70,98,120,140,160],"the":[36,41,45,50,63,181,186,191,196,205],"sparsity":[37],"disorder":[39],"of":[40,109,115,193],"point":[42,100],"cloud":[43,101],"limited":[46],"receiving":[47],"area.":[48],"Indeed,":[49],"accuracy":[52],"be":[54,66,95],"improved":[55],"by":[56,84],"setting":[57],"multiple":[58],"cameras":[59],"LiDAR,":[61],"but":[62],"cost":[64],"unacceptable.":[67],"In":[68,146],"order":[69],"resolve":[71],"these":[72],"issues,":[73],"a":[74,106,113,201],"transformer-based":[75],"architecture":[76],"that":[77],"connect":[79],"voxels":[80],"with":[81],"each":[82],"other":[83],"neighborhood":[85,116,149,154],"sparse":[86,99,117],"attention":[87,119,122,151,156],"is":[88,124,127],"proposed.":[89],"A":[90],"standardized":[91],"transformer,":[92],"cannot":[94],"applied":[96],"directly":[97],"space":[102],"because":[103],"contains":[105],"large":[107],"number":[108],"empty":[110],"voxels.":[111],"Hence,":[112],"scheme":[114],"voxel":[118,155],"window":[121,150],"(NSAW)":[123],"introduced,":[125],"which":[126,167],"efficient":[129],"accurate":[131],"single":[132],"stride":[133],"transformer":[134],"for":[135,177],"connecting":[136],"three-dimensional":[137],"(3D)":[138],"backbone":[139],"two-dimensional":[141],"(2D)":[142],"BEV":[143],"feature":[144],"map.":[145],"this":[147],"architecture,":[148],"(NWA)":[152],"(NVA)":[157],"are":[158],"proposed":[159,197],"effectively":[161],"extract":[162],"features":[163],"from":[164],"no-empty":[165],"voxels,":[166],"achieve":[169],"84.30%":[170],"AP3D(R40)":[171,175],"bring":[173],"2.68%":[174],"improvement":[176],"Voxel":[178],"R-CNN":[179],"on":[180,185,208],"moderate":[182],"car":[183],"class":[184],"KITTI":[187],"test":[188],"split.":[189],"On":[190],"premise":[192],"computational":[194],"efficiency,":[195],"NSAW":[198],"demonstrates":[199],"quite":[200],"few":[202],"improvements":[203],"over":[204],"traditional":[206],"baselines":[207],"KITTI3D":[209],"dataset.":[210]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}