{"id":"https://openalex.org/W4376456718","doi":"https://doi.org/10.1109/tits.2023.3272027","title":"Collaborative 3D Object Detection for Autonomous Vehicles via Learnable Communications","display_name":"Collaborative 3D Object Detection for Autonomous Vehicles via Learnable Communications","publication_year":2023,"publication_date":"2023-05-11","ids":{"openalex":"https://openalex.org/W4376456718","doi":"https://doi.org/10.1109/tits.2023.3272027"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2023.3272027","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2023.3272027","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/A5101571148","display_name":"Jenhung Wang","orcid":"https://orcid.org/0009-0004-9232-7605"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"J. Wang","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0004-9232-7605","affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100617494","display_name":"Yuan Zeng","orcid":"https://orcid.org/0000-0002-5260-8064"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Y. Zeng","raw_affiliation_strings":["Research Institute of Trustworthy Autonomous Systems, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-5260-8064","affiliations":[{"raw_affiliation_string":"Research Institute of Trustworthy Autonomous Systems, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100687951","display_name":"Yi Gong","orcid":"https://orcid.org/0000-0001-7392-8991"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Y. Gong","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-7392-8991","affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I3045169105"],"apc_list":null,"apc_paid":null,"fwci":2.3588,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.89875521,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"24","issue":"9","first_page":"9804","last_page":"9816"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9991000294685364,"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":0.9991000294685364,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9943000078201294,"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/T10764","display_name":"Privacy-Preserving Technologies in Data","score":0.9926000237464905,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7596745491027832},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7156248688697815},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.709273099899292},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5055849552154541},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4762956202030182},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.45730096101760864},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.4402187168598175},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.43368303775787354},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4292539060115814},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4224848747253418},{"id":"https://openalex.org/keywords/wireless-sensor-network","display_name":"Wireless sensor network","score":0.4154731035232544},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.27180594205856323},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.25330251455307007}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7596745491027832},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7156248688697815},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.709273099899292},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5055849552154541},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4762956202030182},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.45730096101760864},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.4402187168598175},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.43368303775787354},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4292539060115814},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4224848747253418},{"id":"https://openalex.org/C24590314","wikidata":"https://www.wikidata.org/wiki/Q336038","display_name":"Wireless sensor network","level":2,"score":0.4154731035232544},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.27180594205856323},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.25330251455307007},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2023.3272027","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2023.3272027","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":"Industry, innovation and infrastructure","score":0.6299999952316284,"id":"https://metadata.un.org/sdg/9"}],"awards":[{"id":"https://openalex.org/G2367108652","display_name":null,"funder_award_id":"2019B1515130003","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"},{"id":"https://openalex.org/G3487419719","display_name":null,"funder_award_id":"2020ZDZX3057","funder_id":"https://openalex.org/F4320326279","funder_display_name":"Department of Education of Guangdong Province"},{"id":"https://openalex.org/G6411099822","display_name":null,"funder_award_id":"62106095","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7699923999","display_name":"\u2f46\u7ebf\u7fa4\u667a\u6807\u6ce8\u5173\u952e\u6280\u672f\u7814\u7a76","funder_award_id":"62071212","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"},{"id":"https://openalex.org/F4320326279","display_name":"Department of Education of Guangdong Province","ror":null},{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":57,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1536680647","https://openalex.org/W1641379095","https://openalex.org/W1665214252","https://openalex.org/W1836465849","https://openalex.org/W1902237438","https://openalex.org/W1918511498","https://openalex.org/W2023835067","https://openalex.org/W2031489346","https://openalex.org/W2037227137","https://openalex.org/W2142347946","https://openalex.org/W2150066425","https://openalex.org/W2304648132","https://openalex.org/W2560609797","https://openalex.org/W2756196406","https://openalex.org/W2803155336","https://openalex.org/W2897529137","https://openalex.org/W2904551995","https://openalex.org/W2911486422","https://openalex.org/W2949708697","https://openalex.org/W2951517617","https://openalex.org/W2963438049","https://openalex.org/W2963727135","https://openalex.org/W2964338167","https://openalex.org/W2968296999","https://openalex.org/W2982681137","https://openalex.org/W2985739927","https://openalex.org/W2996759437","https://openalex.org/W2997814983","https://openalex.org/W3034314779","https://openalex.org/W3090375251","https://openalex.org/W3109991383","https://openalex.org/W3117804044","https://openalex.org/W3119981513","https://openalex.org/W3201193904","https://openalex.org/W3212352499","https://openalex.org/W4289100326","https://openalex.org/W4289363497","https://openalex.org/W4295719664","https://openalex.org/W4297411803","https://openalex.org/W4312437143","https://openalex.org/W4312604822","https://openalex.org/W4385245566","https://openalex.org/W6631190155","https://openalex.org/W6637242042","https://openalex.org/W6638667902","https://openalex.org/W6697974390","https://openalex.org/W6713411898","https://openalex.org/W6739901393","https://openalex.org/W6744537943","https://openalex.org/W6745935785","https://openalex.org/W6751139674","https://openalex.org/W6755542948","https://openalex.org/W6757784512","https://openalex.org/W6802966573","https://openalex.org/W6809950564","https://openalex.org/W6842774165"],"related_works":["https://openalex.org/W3016928466","https://openalex.org/W4389574804","https://openalex.org/W4390516098","https://openalex.org/W2936725271","https://openalex.org/W2181948922","https://openalex.org/W3150655618","https://openalex.org/W2295788148","https://openalex.org/W1578717197","https://openalex.org/W2384362569","https://openalex.org/W3108295644"],"abstract_inverted_index":{"3D":[0,30,61,93,170,192,207,223],"object":[1,31,62,94,171,194,208,224],"detection":[2,32,95,209,214,225,229],"from":[3,20,33,53,136],"LiDAR":[4],"point":[5,34,47,119],"cloud":[6,48],"is":[7],"a":[8,90,113,155,183,212],"challenging":[9],"task":[10],"in":[11,71,77],"autonomous":[12,43],"driving":[13],"systems.":[14],"Collaborative":[15],"perception":[16],"can":[17],"incorporate":[18],"information":[19,52,65],"spatially":[21],"diverse":[22],"sensors":[23],"and":[24,50,69,102,131,142,148,164,198,216],"provide":[25],"significant":[26],"benefits":[27],"for":[28,59,169,191],"accurate":[29],"clouds.":[35],"In":[36],"this":[37,86],"work,":[38],"we":[39,88,187],"consider":[40],"that":[41,117,128,159,186,203],"the":[42,137,175,178,204],"vehicle":[44,138],"uses":[45],"local":[46,161],"data":[49],"combines":[51],"neighboring":[54],"infrastructures":[55,70],"through":[56],"wireless":[57],"links":[58],"cooperative":[60,193],"detection.":[63,172,195],"However,":[64],"sharing":[66],"among":[67],"vehicles":[68],"predefined":[72],"communication":[73,78,126,217],"schemes":[74],"may":[75],"result":[76],"congestion":[79],"and/or":[80],"bring":[81],"limited":[82],"performance":[83,176,215],"improvement.":[84],"To":[85],"end,":[87],"propose":[89],"novel":[91],"collaborative":[92,206],"framework":[96,180,210],"using":[97,189],"an":[98,103,124],"encoder-decoder":[99],"network":[100,116,158],"architecture":[101],"attention-based":[104,125],"learnable":[105],"communications":[106],"scheme.":[107],"It":[108],"consists":[109],"of":[110,177],"three":[111],"components:":[112],"feature":[114,122,134,153,162,167],"encoder":[115],"maps":[118,135,163,168],"clouds":[120],"into":[121],"maps;":[123,154],"module":[127],"propagates":[129],"compact":[130],"fine-grained":[132],"query":[133,147],"to":[139,150],"support":[140,152,166],"infrastructures,":[141],"optimizes":[143],"attention":[144],"weights":[145],"between":[146],"key":[149],"refine":[151],"region":[156],"proposal":[157],"fuses":[160],"weighted":[165],"We":[173],"evaluate":[174],"proposed":[179,205],"on":[181],"CARLA-3D,":[182],"new":[184],"dataset":[185],"synthesized":[188],"CARLA":[190],"Experimental":[196],"results":[197],"bandwidth":[199,218],"consumption":[200],"analysis":[201],"show":[202],"achieves":[211],"better":[213],"trade-off":[219],"than":[220],"five":[221],"baseline":[222],"models":[226],"under":[227],"different":[228],"difficulties.":[230]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}