{"id":"https://openalex.org/W4375798315","doi":"https://doi.org/10.1109/tits.2023.3271414","title":"VoxelScape: Large Scale Simulated 3D Point Cloud Dataset of Urban Traffic Environments","display_name":"VoxelScape: Large Scale Simulated 3D Point Cloud Dataset of Urban Traffic Environments","publication_year":2023,"publication_date":"2023-05-05","ids":{"openalex":"https://openalex.org/W4375798315","doi":"https://doi.org/10.1109/tits.2023.3271414"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2023.3271414","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2023.3271414","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/A5102016555","display_name":"Khaled Saleh","orcid":"https://orcid.org/0000-0002-2589-179X"},"institutions":[{"id":"https://openalex.org/I78757542","display_name":"University of Newcastle Australia","ror":"https://ror.org/00eae9z71","country_code":"AU","type":"education","lineage":["https://openalex.org/I78757542"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Khaled Saleh","raw_affiliation_strings":["School of Information and Physical Sciences, The University of Newcastle, Callaghan, NSW, Australia"],"affiliations":[{"raw_affiliation_string":"School of Information and Physical Sciences, The University of Newcastle, Callaghan, NSW, Australia","institution_ids":["https://openalex.org/I78757542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018882728","display_name":"Mohammed Hossny","orcid":"https://orcid.org/0000-0002-1593-6296"},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Mohammed Hossny","raw_affiliation_strings":["School of Engineering and IT, The University of New South Wales, Sydney, NSW, Australia"],"affiliations":[{"raw_affiliation_string":"School of Engineering and IT, The University of New South Wales, Sydney, NSW, Australia","institution_ids":["https://openalex.org/I31746571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088397310","display_name":"Ahmed Abobakr","orcid":"https://orcid.org/0000-0002-6664-2335"},"institutions":[{"id":"https://openalex.org/I145487455","display_name":"Cairo University","ror":"https://ror.org/03q21mh05","country_code":"EG","type":"education","lineage":["https://openalex.org/I145487455"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Ahmed Abobakr","raw_affiliation_strings":["Faculty of Computers and Artificial Intelligence, Cairo University, Giza, Egypt"],"affiliations":[{"raw_affiliation_string":"Faculty of Computers and Artificial Intelligence, Cairo University, Giza, Egypt","institution_ids":["https://openalex.org/I145487455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087624285","display_name":"Mohamed Attia","orcid":null},"institutions":[{"id":"https://openalex.org/I84524832","display_name":"Alexandria University","ror":"https://ror.org/00mzz1w90","country_code":"EG","type":"education","lineage":["https://openalex.org/I84524832"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Mohammed Attia","raw_affiliation_strings":["Medical Research Institute, Alexandria University, Alexandria, Egypt"],"affiliations":[{"raw_affiliation_string":"Medical Research Institute, Alexandria University, Alexandria, Egypt","institution_ids":["https://openalex.org/I84524832"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080894673","display_name":"Julie Iskander","orcid":"https://orcid.org/0000-0002-3426-4376"},"institutions":[{"id":"https://openalex.org/I196021976","display_name":"Walter and Eliza Hall Institute of Medical Research","ror":"https://ror.org/01b6kha49","country_code":"AU","type":"nonprofit","lineage":["https://openalex.org/I196021976"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Julie Iskander","raw_affiliation_strings":["Walter and Eliza Hall Institute of Medical Research, Parkville, VIC, Australia"],"affiliations":[{"raw_affiliation_string":"Walter and Eliza Hall Institute of Medical Research, Parkville, VIC, Australia","institution_ids":["https://openalex.org/I196021976"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5102016555"],"corresponding_institution_ids":["https://openalex.org/I78757542"],"apc_list":null,"apc_paid":null,"fwci":0.4797,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.63528966,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"24","issue":"9","first_page":"9435","last_page":"9448"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9994000196456909,"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":0.9994000196456909,"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":0.998199999332428,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.8844059705734253},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.8397320508956909},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7824651598930359},{"id":"https://openalex.org/keywords/minimum-bounding-box","display_name":"Minimum bounding box","score":0.6321694850921631},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5628749132156372},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.5330703854560852},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5123332738876343},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.489774227142334},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4421956241130829},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.43695613741874695},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.4355889558792114},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.4224715828895569},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4165310263633728},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3565676808357239},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3400358259677887},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.15433627367019653},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.09958866238594055},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.07910528779029846}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8844059705734253},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8397320508956909},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7824651598930359},{"id":"https://openalex.org/C147037132","wikidata":"https://www.wikidata.org/wiki/Q6865426","display_name":"Minimum bounding box","level":3,"score":0.6321694850921631},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5628749132156372},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.5330703854560852},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5123332738876343},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.489774227142334},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4421956241130829},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.43695613741874695},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.4355889558792114},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.4224715828895569},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4165310263633728},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3565676808357239},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3400358259677887},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.15433627367019653},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.09958866238594055},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.07910528779029846},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tits.2023.3271414","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2023.3271414","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:uon:52098","is_oa":false,"landing_page_url":"http://hdl.handle.net/1959.13/1487265","pdf_url":null,"source":{"id":"https://openalex.org/S4377196471","display_name":"NOVA (University of Newcastle Australia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I78757542","host_organization_name":"University of Newcastle Australia","host_organization_lineage":["https://openalex.org/I78757542"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","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":0.8299999833106995}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":57,"referenced_works":["https://openalex.org/W156975732","https://openalex.org/W1654874280","https://openalex.org/W1861492603","https://openalex.org/W2037227137","https://openalex.org/W2050690116","https://openalex.org/W2113551198","https://openalex.org/W2150066425","https://openalex.org/W2431874326","https://openalex.org/W2618530766","https://openalex.org/W2896992394","https://openalex.org/W2949708697","https://openalex.org/W2961619217","https://openalex.org/W2962912109","https://openalex.org/W2963046274","https://openalex.org/W2963121255","https://openalex.org/W2963292632","https://openalex.org/W2963706542","https://openalex.org/W2966702270","https://openalex.org/W2968169856","https://openalex.org/W2968296999","https://openalex.org/W2968557240","https://openalex.org/W2970452316","https://openalex.org/W2990674386","https://openalex.org/W2991216808","https://openalex.org/W3003437478","https://openalex.org/W3012494314","https://openalex.org/W3033919309","https://openalex.org/W3034314779","https://openalex.org/W3035172746","https://openalex.org/W3035574168","https://openalex.org/W3035617611","https://openalex.org/W3035750285","https://openalex.org/W3084053805","https://openalex.org/W3091155238","https://openalex.org/W3106250896","https://openalex.org/W3108381027","https://openalex.org/W3119197669","https://openalex.org/W3134233478","https://openalex.org/W3153585670","https://openalex.org/W3207776935","https://openalex.org/W3212953023","https://openalex.org/W4293584584","https://openalex.org/W4295719664","https://openalex.org/W4299518610","https://openalex.org/W4313168566","https://openalex.org/W6639102338","https://openalex.org/W6682132143","https://openalex.org/W6739778489","https://openalex.org/W6745935785","https://openalex.org/W6750227808","https://openalex.org/W6766017099","https://openalex.org/W6774438540","https://openalex.org/W6779101571","https://openalex.org/W6780257433","https://openalex.org/W6783070170","https://openalex.org/W6785652829","https://openalex.org/W6804045329"],"related_works":["https://openalex.org/W2594043982","https://openalex.org/W3036493597","https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W4386996071","https://openalex.org/W4327500857","https://openalex.org/W4311223090","https://openalex.org/W1689909837","https://openalex.org/W2965994363","https://openalex.org/W4205729548"],"abstract_inverted_index":{"Having":[0],"a":[1,30,114,144],"profound":[2],"understanding":[3,36],"of":[4,11,19,68,85,92,146,153,178,205],"the":[5,12,16,43,66,86,90,111,128,151,176,179,184,192,198,225],"surrounding":[6],"environment":[7],"is":[8,76,89],"considered":[9],"one":[10],"crucial":[13],"tasks":[14,58,182],"for":[15,159,197,211],"reliable":[17],"operation":[18],"future":[20],"self-driving":[21],"cars.":[22],"Light":[23],"Detection":[24],"and":[25,136,224],"Ranging":[26],"(LiDAR)":[27],"sensor":[28],"plays":[29],"critical":[31],"role":[32],"in":[33,45,55,127,217],"achieving":[34],"such":[35],"due":[37],"to":[38,41,48,149,155,201],"its":[39],"capability":[40],"perceive":[42],"world":[44],"3D.":[46],"Similar":[47],"2D":[49,82],"perception":[50,57,70,163,181],"tasks,":[51,71],"current":[52],"state-of-the-art":[53],"methods":[54],"3D":[56,69,96,102,117,137,157,162,180,206],"rely":[59],"on":[60,78,173,183],"deep":[61],"neural":[62],"networks":[63],"(DNNs).":[64],"However,":[65],"performance":[67,177],"specially":[72],"point-wise":[73,133],"semantic":[74,134],"segmentation,":[75],"not":[77],"par":[79],"with":[80,119],"their":[81],"counterparts.":[83],"One":[84],"main":[87],"reasons":[88],"lack":[91],"publicly":[93,231],"available":[94,232],"labelled":[95],"point":[97,122,208],"cloud":[98,123,209],"datasets":[99],"(PCDs)":[100],"from":[101],"LiDAR":[103,207,227],"sensors.":[104],"In":[105],"this":[106],"work,":[107],"we":[108,142,188],"are":[109,189,230],"introducing":[110],"VoxelScape":[112,129,154,174,219,222],"dataset,":[113],"large-scale":[115],"simulated":[116],"PCD":[118,158],"100K":[120],"annotated":[121],"scans.":[124],"The":[125,165,221],"annotations":[126],"dataset":[130,223],"include":[131],"both":[132],"labels":[135],"bounding":[138],"box":[139],"labels.":[140],"Additionally,":[141],"used":[143],"number":[145],"baseline":[147],"approaches":[148],"validate":[150],"transferability":[152],"real":[156,185],"two":[160],"challenging":[161],"tasks.":[164],"promising":[166],"results":[167],"have":[168],"shown":[169],"that":[170],"training":[171],"DNNs":[172],"boosted":[175],"PCD.":[186],"Furthermore,":[187],"also":[190],"releasing":[191],"proposed":[193],"data":[194,210],"generation":[195],"pipeline":[196],"research":[199],"community":[200],"facilitate":[202],"realistic":[203],"simulation":[204,228],"different":[212],"scenarios":[213],"beyond":[214],"those":[215],"covered":[216],"our":[218],"dataset.":[220],"corresponding":[226],"codes":[229],"at":[233],"<uri":[234],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[235],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://voxel-scape.github.io/dataset</uri>":[236]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}