{"id":"https://openalex.org/W3022718244","doi":"https://doi.org/10.1109/tits.2020.2990120","title":"Capsule-Based Networks for Road Marking Extraction and Classification From Mobile LiDAR Point Clouds","display_name":"Capsule-Based Networks for Road Marking Extraction and Classification From Mobile LiDAR Point Clouds","publication_year":2020,"publication_date":"2020-05-06","ids":{"openalex":"https://openalex.org/W3022718244","doi":"https://doi.org/10.1109/tits.2020.2990120","mag":"3022718244"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2020.2990120","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2020.2990120","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","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/A5032270954","display_name":"Lingfei Ma","orcid":"https://orcid.org/0000-0001-8893-9693"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Lingfei Ma","raw_affiliation_strings":["Department of Geography and Environmental Management, University of Waterloo, Waterloo, ON, Canada","University of Waterloo, Waterloo, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0001-8893-9693","affiliations":[{"raw_affiliation_string":"Department of Geography and Environmental Management, University of Waterloo, Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"University of Waterloo, Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100414383","display_name":"Ying Li","orcid":"https://orcid.org/0000-0003-0608-9619"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Ying Li","raw_affiliation_strings":["Department of Geography and Environmental Management, University of Waterloo, Waterloo, ON, Canada","University of Waterloo, Waterloo, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0003-0608-9619","affiliations":[{"raw_affiliation_string":"Department of Geography and Environmental Management, University of Waterloo, Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"University of Waterloo, Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100613889","display_name":"Jonathan Li","orcid":"https://orcid.org/0000-0001-7899-0049"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]},{"id":"https://openalex.org/I191208505","display_name":"Xiamen University","ror":"https://ror.org/00mcjh785","country_code":"CN","type":"education","lineage":["https://openalex.org/I191208505"]}],"countries":["CA","CN"],"is_corresponding":false,"raw_author_name":"Jonathan Li","raw_affiliation_strings":["Department of Geography and Environmental Management, University of Waterloo, Waterloo, ON, Canada","Fujian Key Laboratory of Sensing and Computing for Smart Cities, School of Informatics, Xiamen University, Xiamen, China","University of Waterloo, Waterloo, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0001-7899-0049","affiliations":[{"raw_affiliation_string":"Department of Geography and Environmental Management, University of Waterloo, Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"Fujian Key Laboratory of Sensing and Computing for Smart Cities, School of Informatics, Xiamen University, Xiamen, China","institution_ids":["https://openalex.org/I191208505"]},{"raw_affiliation_string":"University of Waterloo, Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065937604","display_name":"Yongtao Yu","orcid":"https://orcid.org/0000-0001-7204-9346"},"institutions":[{"id":"https://openalex.org/I4210153869","display_name":"Huaiyin Institute of Technology","ror":"https://ror.org/0555ezg60","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210153869"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongtao Yu","raw_affiliation_strings":["Faculty of Computer and Software Engineering, Huaiyin Institute of Technology, Huaian, China"],"raw_orcid":"https://orcid.org/0000-0001-7204-9346","affiliations":[{"raw_affiliation_string":"Faculty of Computer and Software Engineering, Huaiyin Institute of Technology, Huaian, China","institution_ids":["https://openalex.org/I4210153869"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071340024","display_name":"Jos\u00e9 Marcato","orcid":"https://orcid.org/0000-0002-9096-6866"},"institutions":[{"id":"https://openalex.org/I122558511","display_name":"Universidade Federal de Mato Grosso do Sul","ror":"https://ror.org/0366d2847","country_code":"BR","type":"education","lineage":["https://openalex.org/I122558511"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Jos\u00e9 Marcato Junior","raw_affiliation_strings":["Faculty of Engineering, Architecture and Urbanism and Geography, Federal University of Mato Grosso do Sul, Campo Grande, Brazil"],"raw_orcid":"https://orcid.org/0000-0002-9096-6866","affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Architecture and Urbanism and Geography, Federal University of Mato Grosso do Sul, Campo Grande, Brazil","institution_ids":["https://openalex.org/I122558511"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017880637","display_name":"Wesley Nunes Gon\u00e7alves","orcid":"https://orcid.org/0000-0002-8815-6653"},"institutions":[{"id":"https://openalex.org/I122558511","display_name":"Universidade Federal de Mato Grosso do Sul","ror":"https://ror.org/0366d2847","country_code":"BR","type":"education","lineage":["https://openalex.org/I122558511"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Wesley Nunes Gon\u00e7alves","raw_affiliation_strings":["Faculty of Engineering, Architecture and Urbanism and Geography, Federal University of Mato Grosso do Sul, Campo Grande, Brazil"],"raw_orcid":"https://orcid.org/0000-0002-8815-6653","affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Architecture and Urbanism and Geography, Federal University of Mato Grosso do Sul, Campo Grande, Brazil","institution_ids":["https://openalex.org/I122558511"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076765712","display_name":"Michael A. Chapman","orcid":"https://orcid.org/0000-0001-8342-0606"},"institutions":[{"id":"https://openalex.org/I530967","display_name":"Toronto Metropolitan University","ror":"https://ror.org/05g13zd79","country_code":"CA","type":"education","lineage":["https://openalex.org/I530967"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Michael A. Chapman","raw_affiliation_strings":["Department of Civil Engineering, Ryerson University, Toronto, ON, Canada","Ryerson University, Toronto, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Civil Engineering, Ryerson University, Toronto, ON, Canada","institution_ids":["https://openalex.org/I530967"]},{"raw_affiliation_string":"Ryerson University, Toronto, ON, Canada","institution_ids":["https://openalex.org/I530967"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.1913,"has_fulltext":false,"cited_by_count":58,"citation_normalized_percentile":{"value":0.94495239,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"22","issue":"4","first_page":"1981","last_page":"1995"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9998000264167786,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9973999857902527,"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/T13282","display_name":"Automated Road and Building Extraction","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/point-cloud","display_name":"Point cloud","score":0.7489568591117859},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6546815037727356},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5849344730377197},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5588210225105286},{"id":"https://openalex.org/keywords/weighting","display_name":"Weighting","score":0.511401355266571},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.4552255868911743},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.4433782398700714},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38146257400512695},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.35022538900375366},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.33513301610946655},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2825336158275604},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.16303014755249023}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7489568591117859},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6546815037727356},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5849344730377197},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5588210225105286},{"id":"https://openalex.org/C183115368","wikidata":"https://www.wikidata.org/wiki/Q856577","display_name":"Weighting","level":2,"score":0.511401355266571},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.4552255868911743},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.4433782398700714},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38146257400512695},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.35022538900375366},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.33513301610946655},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2825336158275604},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.16303014755249023},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2020.2990120","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2020.2990120","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7799999713897705}],"awards":[{"id":"https://openalex.org/G1552547945","display_name":"\u57fa\u4e8e\u4e09\u7ef4\u70b9\u4e91\u7684\u9ad8\u6e05\u5730\u56fe\u5feb\u901f\u8bed\u4e49\u6807\u6ce8\u7406\u8bba\u4e0e\u65b9\u6cd5\u7814\u7a76","funder_award_id":"41871380","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":46,"referenced_works":["https://openalex.org/W46659105","https://openalex.org/W1536680647","https://openalex.org/W2041330605","https://openalex.org/W2050932842","https://openalex.org/W2058537106","https://openalex.org/W2077506631","https://openalex.org/W2088648144","https://openalex.org/W2133059825","https://openalex.org/W2140581865","https://openalex.org/W2141464147","https://openalex.org/W2439667875","https://openalex.org/W2464204616","https://openalex.org/W2524866760","https://openalex.org/W2530953581","https://openalex.org/W2560566301","https://openalex.org/W2565415234","https://openalex.org/W2620773907","https://openalex.org/W2733731448","https://openalex.org/W2756945571","https://openalex.org/W2764034829","https://openalex.org/W2782522152","https://openalex.org/W2792376672","https://openalex.org/W2797472209","https://openalex.org/W2800336479","https://openalex.org/W2889635098","https://openalex.org/W2893333163","https://openalex.org/W2897971883","https://openalex.org/W2901316471","https://openalex.org/W2902218628","https://openalex.org/W2913855599","https://openalex.org/W2913960518","https://openalex.org/W2913972737","https://openalex.org/W2934180171","https://openalex.org/W2963143796","https://openalex.org/W2963656735","https://openalex.org/W2963703618","https://openalex.org/W2964332990","https://openalex.org/W2973342970","https://openalex.org/W2976058877","https://openalex.org/W2990806702","https://openalex.org/W6602002561","https://openalex.org/W6731515422","https://openalex.org/W6735013348","https://openalex.org/W6743446608","https://openalex.org/W6748823286","https://openalex.org/W6750207810"],"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/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W1996690921"],"abstract_inverted_index":{"Accurate":[0],"road":[1,63,88,121,143,158,177,237],"marking":[2,64,159],"extraction":[3,39,65,205],"and":[4,17,25,41,49,66,70,127,152,166,183,195,215],"classification":[5,43,67,226],"play":[6],"a":[7,57,113,132,147],"significant":[8],"role":[9],"in":[10,110,210,213,217,235],"the":[11,36,125,203,225],"development":[12],"of":[13,35,142,176,231],"autonomous":[14],"vehicles":[15],"(AVs)":[16],"high-definition":[18],"(HD)":[19],"maps.":[20],"Due":[21],"to":[22,86,119,138],"point":[23,73,93,164],"density":[24],"intensity":[26],"variations":[27],"from":[28,68,90,173],"mobile":[29],"laser":[30],"scanning":[31],"(MLS)":[32],"systems,":[33],"most":[34],"existing":[37],"thresholding-based":[38],"methods":[40,44],"rule-based":[42],"cannot":[45],"deliver":[46,208],"high":[47],"efficiency":[48,196],"remarkable":[50],"robustness.":[51],"To":[52],"address":[53],"this,":[54],"we":[55],"propose":[56],"capsule-based":[58,115,134],"deep":[59],"learning":[60],"framework":[61,76],"for":[62,104],"massive":[69],"unordered":[71],"MLS":[72,92],"clouds.":[74],"This":[75],"mainly":[77],"contains":[78],"three":[79,174],"modules.":[80],"Module":[81,111],"I":[82],"is":[83,117,136,171],"first":[84],"implemented":[85],"segment":[87],"surfaces":[89],"3D":[91,163],"clouds,":[94],"followed":[95],"by":[96,145,192],"an":[97,229],"inverse":[98],"distance":[99],"weighting":[100],"(IDW)":[101],"interpolation":[102],"method":[103,206],"2D":[105],"georeferenced":[106],"image":[107],"generation.":[108],"Then,":[109],"II,":[112],"U-shaped":[114],"network":[116,135,227],"constructed":[118],"extract":[120],"markings":[122,144],"based":[123],"on":[124],"convolutional":[126],"deconvolutional":[128],"capsule":[129],"operations.":[130],"Finally,":[131],"hybrid":[133],"developed":[137],"classify":[139],"different":[140,236],"types":[141,175],"using":[146,197],"revised":[148],"dynamic":[149],"routing":[150],"algorithm":[151],"large-margin":[153],"Softmax":[154],"loss":[155],"function.":[156],"A":[157],"dataset":[160],"containing":[161],"both":[162],"clouds":[165],"manually":[167],"labeled":[168],"reference":[169],"data":[170],"built":[172],"scenes,":[178],"including":[179],"urban":[180],"roads,":[181],"highways,":[182],"underground":[184],"garages.":[185],"The":[186],"proposed":[187,204],"networks":[188],"were":[189],"accordingly":[190],"evaluated":[191],"estimating":[193],"robustness":[194],"this":[198],"dataset.":[199],"Quantitative":[200],"evaluations":[201],"indicate":[202],"can":[207],"94.11%":[209],"precision,":[211],"90.52%":[212],"recall,":[214],"92.43%":[216],"F":[218],"<sub":[219],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[220],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sub>":[221],"-score,":[222],"respectively,":[223],"while":[224],"achieves":[228],"average":[230],"3.42%":[232],"misclassification":[233],"rate":[234],"scenes.":[238]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":17},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}