{"id":"https://openalex.org/W4214936898","doi":"https://doi.org/10.1109/tits.2022.3154537","title":"CL3D: Camera-LiDAR 3D Object Detection With Point Feature Enhancement and Point-Guided Fusion","display_name":"CL3D: Camera-LiDAR 3D Object Detection With Point Feature Enhancement and Point-Guided Fusion","publication_year":2022,"publication_date":"2022-03-03","ids":{"openalex":"https://openalex.org/W4214936898","doi":"https://doi.org/10.1109/tits.2022.3154537"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2022.3154537","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2022.3154537","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":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056581153","display_name":"Chunmian Lin","orcid":"https://orcid.org/0000-0002-9051-8852"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunmian Lin","raw_affiliation_strings":["Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beijing Advanced Innovation Center for Big Data and Brain Computing, School of Transportation Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-9051-8852","affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beijing Advanced Innovation Center for Big Data and Brain Computing, School of Transportation Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052586688","display_name":"Daxin Tian","orcid":"https://orcid.org/0000-0001-7796-5650"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Daxin Tian","raw_affiliation_strings":["Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beijing Advanced Innovation Center for Big Data and Brain Computing, School of Transportation Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-7796-5650","affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beijing Advanced Innovation Center for Big Data and Brain Computing, School of Transportation Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059123327","display_name":"Xuting Duan","orcid":"https://orcid.org/0000-0001-5931-8310"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuting Duan","raw_affiliation_strings":["Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beijing Advanced Innovation Center for Big Data and Brain Computing, School of Transportation Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-5931-8310","affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beijing Advanced Innovation Center for Big Data and Brain Computing, School of Transportation Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020300563","display_name":"Jianshan Zhou","orcid":"https://orcid.org/0000-0001-5331-6162"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianshan Zhou","raw_affiliation_strings":["Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beijing Advanced Innovation Center for Big Data and Brain Computing, School of Transportation Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-5331-6162","affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beijing Advanced Innovation Center for Big Data and Brain Computing, School of Transportation Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027569449","display_name":"Dezong Zhao","orcid":"https://orcid.org/0000-0002-9848-372X"},"institutions":[{"id":"https://openalex.org/I7882870","display_name":"University of Glasgow","ror":"https://ror.org/00vtgdb53","country_code":"GB","type":"education","lineage":["https://openalex.org/I7882870"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Dezong Zhao","raw_affiliation_strings":["James Watt School of Engineering, University of Glasgow, Glasgow, U.K"],"raw_orcid":"https://orcid.org/0000-0002-9848-372X","affiliations":[{"raw_affiliation_string":"James Watt School of Engineering, University of Glasgow, Glasgow, U.K","institution_ids":["https://openalex.org/I7882870"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031991761","display_name":"Dongpu Cao","orcid":"https://orcid.org/0000-0001-7929-4336"},"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":"Dongpu Cao","raw_affiliation_strings":["Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0001-7929-4336","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.4813,"has_fulltext":false,"cited_by_count":64,"citation_normalized_percentile":{"value":0.97025902,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"23","issue":"10","first_page":"18040","last_page":"18050"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9997000098228455,"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":0.9997000098228455,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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"}},{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9945999979972839,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.8134318590164185},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7864201068878174},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6973251700401306},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6887267231941223},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.6728508472442627},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.60957932472229},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6064251661300659},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5045415163040161},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.4611644148826599},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.37711966037750244},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2531811594963074},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.13438159227371216},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13052669167518616}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8134318590164185},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7864201068878174},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6973251700401306},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6887267231941223},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.6728508472442627},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.60957932472229},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6064251661300659},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5045415163040161},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.4611644148826599},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.37711966037750244},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2531811594963074},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.13438159227371216},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13052669167518616},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tits.2022.3154537","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2022.3154537","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"},{"id":"pmh:oai:eprints.gla.ac.uk:266475","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4210235606","display_name":"ENLIGHTEN (Jurnal Bimbingan dan Konseling Islam)","issn_l":"2622-8912","issn":["2622-8912","2622-8920"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Articles"}],"best_oa_location":{"id":"pmh:oai:eprints.gla.ac.uk:266475","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4210235606","display_name":"ENLIGHTEN (Jurnal Bimbingan dan Konseling Islam)","issn_l":"2622-8912","issn":["2622-8912","2622-8920"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Articles"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G514678690","display_name":null,"funder_award_id":"62061130221","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5589743194","display_name":null,"funder_award_id":"2020M680299","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G7686647633","display_name":null,"funder_award_id":"62173012","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7950865698","display_name":null,"funder_award_id":"U20A20155","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8254294870","display_name":null,"funder_award_id":"L191001","funder_id":"https://openalex.org/F4320334977","funder_display_name":"Beijing Municipal Natural Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321125","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320334977","display_name":"Beijing Municipal Natural Science Foundation","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W2150066425","https://openalex.org/W2468368736","https://openalex.org/W2555618208","https://openalex.org/W2560544142","https://openalex.org/W2565639579","https://openalex.org/W2886904239","https://openalex.org/W2897529137","https://openalex.org/W2899607431","https://openalex.org/W2920326761","https://openalex.org/W2949708697","https://openalex.org/W2951517617","https://openalex.org/W2953941229","https://openalex.org/W2954174912","https://openalex.org/W2962888833","https://openalex.org/W2963351448","https://openalex.org/W2963400571","https://openalex.org/W2963402592","https://openalex.org/W2963619659","https://openalex.org/W2963727135","https://openalex.org/W2964062501","https://openalex.org/W2967636939","https://openalex.org/W2968296999","https://openalex.org/W2981949127","https://openalex.org/W2989676862","https://openalex.org/W2997790735","https://openalex.org/W2997814983","https://openalex.org/W2998254148","https://openalex.org/W3003618643","https://openalex.org/W3008105217","https://openalex.org/W3014595575","https://openalex.org/W3016041489","https://openalex.org/W3017930107","https://openalex.org/W3034314779","https://openalex.org/W3034602892","https://openalex.org/W3034971973","https://openalex.org/W3035346742","https://openalex.org/W3035473155","https://openalex.org/W3035749845","https://openalex.org/W3107819843","https://openalex.org/W3108426750","https://openalex.org/W3113028524","https://openalex.org/W3117804044","https://openalex.org/W3130463448","https://openalex.org/W3167095230","https://openalex.org/W4293584584","https://openalex.org/W6686211706","https://openalex.org/W6739778489","https://openalex.org/W6750227808","https://openalex.org/W6760424586","https://openalex.org/W6763422710","https://openalex.org/W6764514022","https://openalex.org/W6775948036"],"related_works":["https://openalex.org/W2283162247","https://openalex.org/W4212983513","https://openalex.org/W2524507886","https://openalex.org/W2314488738","https://openalex.org/W2052518016","https://openalex.org/W2771653066","https://openalex.org/W2085956791","https://openalex.org/W4293067784","https://openalex.org/W3137401801","https://openalex.org/W1781672457"],"abstract_inverted_index":{"Camera-LiDAR":[0],"3D":[1,62,126,161],"object":[2,63],"detection":[3,153],"has":[4],"been":[5],"extensively":[6],"investigated":[7],"due":[8],"to":[9,23,82,97,156],"its":[10,164],"significance":[11],"for":[12,60,135],"many":[13],"real-world":[14],"applications.":[15],"However,":[16],"there":[17],"are":[18,141],"still":[19],"of":[20],"great":[21],"challenges":[22],"address":[24],"the":[25,84,117,151],"intrinsic":[26],"data":[27],"difference":[28],"and":[29,74,104,122,128,148,159,166],"perform":[30],"accurate":[31,136],"feature":[32],"fusion":[33,55,92],"among":[34],"two":[35],"modalities.":[36],"To":[37],"these":[38],"ends,":[39],"we":[40],"propose":[41],"a":[42,111],"two-stream":[43],"architecture":[44],"termed":[45],"as":[46],"CL3D,":[47],"that":[48],"integrates":[49],"with":[50,57,87,107],"point":[51,75],"enhancement":[52,76],"module,":[53],"point-guided":[54,91],"module":[56,77,93],"IoU-aware":[58,130],"head":[59,132],"cross-modal":[61],"detection.":[64],"Specifically,":[65],"pseudo":[66,88],"LiDAR":[67,86],"is":[68,79,95],"firstly":[69],"generated":[70],"from":[71],"RGB":[72],"image,":[73],"(PEM)":[78],"then":[80],"designed":[81],"enhance":[83],"raw":[85],"point.":[89],"Moreover,":[90],"(PFM)":[94],"developed":[96],"find":[98],"image-point":[99],"correspondence":[100],"at":[101],"different":[102],"resolutions,":[103],"incorporate":[105],"semantic":[106],"geometric":[108],"features":[109],"in":[110,125],"point-wise":[112],"manner.":[113],"We":[114],"also":[115],"investigate":[116],"inconsistency":[118],"between":[119],"localization":[120],"confidence":[121],"classification":[123],"score":[124],"detection,":[127],"introduce":[129],"prediction":[131],"(IoU":[133],"Head)":[134],"box":[137],"regression.":[138],"Comprehensive":[139],"experiments":[140],"conducted":[142],"on":[143],"publicly":[144],"available":[145],"KITTI":[146],"dataset,":[147],"CL3D":[149],"reports":[150],"outstanding":[152],"performance":[154],"compared":[155],"both":[157],"single-":[158],"multi-modal":[160],"detectors,":[162],"demonstrating":[163],"effectiveness":[165],"competitiveness.":[167]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":22},{"year":2023,"cited_by_count":17}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
