{"id":"https://openalex.org/W4399601597","doi":"https://doi.org/10.1109/tits.2024.3409907","title":"Understanding LiDAR Performance for Autonomous Vehicles Under Snowfall Conditions","display_name":"Understanding LiDAR Performance for Autonomous Vehicles Under Snowfall Conditions","publication_year":2024,"publication_date":"2024-06-13","ids":{"openalex":"https://openalex.org/W4399601597","doi":"https://doi.org/10.1109/tits.2024.3409907"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2024.3409907","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3409907","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/A5054273684","display_name":"Chenghao Sun","orcid":"https://orcid.org/0000-0003-1809-401X"},"institutions":[{"id":"https://openalex.org/I25355098","display_name":"Chang'an University","ror":"https://ror.org/05mxya461","country_code":"CN","type":"education","lineage":["https://openalex.org/I25355098"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenghao Sun","raw_affiliation_strings":["School of Information Technology, Chang’an University, Xi’an, Shaanxi, China"],"raw_orcid":"https://orcid.org/0000-0003-1809-401X","affiliations":[{"raw_affiliation_string":"School of Information Technology, Chang’an University, Xi’an, Shaanxi, China","institution_ids":["https://openalex.org/I25355098"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100745410","display_name":"Pengpeng Sun","orcid":"https://orcid.org/0000-0003-0252-3705"},"institutions":[{"id":"https://openalex.org/I25355098","display_name":"Chang'an University","ror":"https://ror.org/05mxya461","country_code":"CN","type":"education","lineage":["https://openalex.org/I25355098"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengpeng Sun","raw_affiliation_strings":["School of Information Technology, Chang’an University, Xi’an, Shaanxi, China"],"raw_orcid":"https://orcid.org/0000-0003-0252-3705","affiliations":[{"raw_affiliation_string":"School of Information Technology, Chang’an University, Xi’an, Shaanxi, China","institution_ids":["https://openalex.org/I25355098"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101941741","display_name":"Jianqiu Wang","orcid":"https://orcid.org/0000-0002-3150-1647"},"institutions":[{"id":"https://openalex.org/I180662265","display_name":"China Mobile (China)","ror":"https://ror.org/05gftfe97","country_code":"CN","type":"company","lineage":["https://openalex.org/I180662265"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianqiu Wang","raw_affiliation_strings":["China Mobile Shanghai ICT Co., Ltd., Shanghai, China","China Mobile Shanghai ICT Co., Ltd, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China Mobile Shanghai ICT Co., Ltd., Shanghai, China","institution_ids":["https://openalex.org/I180662265"]},{"raw_affiliation_string":"China Mobile Shanghai ICT Co., Ltd, Shanghai, China","institution_ids":["https://openalex.org/I180662265"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101563800","display_name":"Ying Guo","orcid":"https://orcid.org/0000-0002-7178-0425"},"institutions":[{"id":"https://openalex.org/I25355098","display_name":"Chang'an University","ror":"https://ror.org/05mxya461","country_code":"CN","type":"education","lineage":["https://openalex.org/I25355098"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ying Guo","raw_affiliation_strings":["School of Information Technology, Chang’an University, Xi’an, Shaanxi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Technology, Chang’an University, Xi’an, Shaanxi, China","institution_ids":["https://openalex.org/I25355098"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081266790","display_name":"Xiangmo Zhao","orcid":"https://orcid.org/0000-0002-0116-5988"},"institutions":[{"id":"https://openalex.org/I25355098","display_name":"Chang'an University","ror":"https://ror.org/05mxya461","country_code":"CN","type":"education","lineage":["https://openalex.org/I25355098"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangmo Zhao","raw_affiliation_strings":["School of Information Technology, Chang’an University, Xi’an, Shaanxi, China"],"raw_orcid":"https://orcid.org/0000-0002-0116-5988","affiliations":[{"raw_affiliation_string":"School of Information Technology, Chang’an University, Xi’an, Shaanxi, China","institution_ids":["https://openalex.org/I25355098"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.0495,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.86180149,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"25","issue":"11","first_page":"16462","last_page":"16472"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9947999715805054,"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"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9947999715805054,"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"}},{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9866999983787537,"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"}},{"id":"https://openalex.org/T12095","display_name":"Vehicle emissions and performance","score":0.9678999781608582,"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/lidar","display_name":"Lidar","score":0.8255747556686401},{"id":"https://openalex.org/keywords/snow","display_name":"Snow","score":0.6320306658744812},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.4430384039878845},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4226745069026947},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.38059213757514954},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.3505192995071411},{"id":"https://openalex.org/keywords/meteorology","display_name":"Meteorology","score":0.3444204032421112},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3148404061794281},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.2683281898498535},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26568302512168884}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8255747556686401},{"id":"https://openalex.org/C197046000","wikidata":"https://www.wikidata.org/wiki/Q7561","display_name":"Snow","level":2,"score":0.6320306658744812},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.4430384039878845},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4226745069026947},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.38059213757514954},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.3505192995071411},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.3444204032421112},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3148404061794281},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.2683281898498535},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26568302512168884}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2024.3409907","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3409907","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":[{"score":0.75,"id":"https://metadata.un.org/sdg/13","display_name":"Climate action"}],"awards":[{"id":"https://openalex.org/G2936615508","display_name":null,"funder_award_id":"300102243501","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6078601349","display_name":null,"funder_award_id":"52302401","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":39,"referenced_works":["https://openalex.org/W1517930163","https://openalex.org/W1570934444","https://openalex.org/W1574311567","https://openalex.org/W2010054375","https://openalex.org/W2085857887","https://openalex.org/W2094658656","https://openalex.org/W2417447115","https://openalex.org/W2510506585","https://openalex.org/W2792919579","https://openalex.org/W2908305534","https://openalex.org/W2955181123","https://openalex.org/W2962912109","https://openalex.org/W2968296999","https://openalex.org/W2971197296","https://openalex.org/W2994789811","https://openalex.org/W2998570973","https://openalex.org/W3004135102","https://openalex.org/W3008960059","https://openalex.org/W3016600231","https://openalex.org/W3034314779","https://openalex.org/W3034543232","https://openalex.org/W3035574168","https://openalex.org/W3036493597","https://openalex.org/W3082942970","https://openalex.org/W3118341329","https://openalex.org/W3209083007","https://openalex.org/W4206562178","https://openalex.org/W4210349466","https://openalex.org/W4213039302","https://openalex.org/W4220824123","https://openalex.org/W4293095150","https://openalex.org/W4293211776","https://openalex.org/W4296991801","https://openalex.org/W4312947590","https://openalex.org/W4313162344","https://openalex.org/W4327692895","https://openalex.org/W6791835162","https://openalex.org/W6801319538","https://openalex.org/W7045487354"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4281783339","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W1964041166","https://openalex.org/W4390887692"],"abstract_inverted_index":{"Light":[0],"detection":[1,16,113,178,190],"and":[2,18,46,59,75,90,95,115,121,148,153,165,173,187,221,237,242],"ranging":[3],"sensors":[4],"(LiDARs)":[5],"have":[6,30],"become":[7],"indispensable":[8],"for":[9,225],"autonomous":[10,54,231],"vehicles":[11,55,164],"because":[12],"of":[13,53,67,100,106,130,136,143,163,199,215,229],"their":[14,33],"high":[15],"accuracy":[17,179],"independence":[19],"from":[20],"lighting":[21],"conditions.":[22],"At":[23],"present,":[24],"although":[25],"LiDARs":[26,168],"with":[27,146],"various":[28],"beams":[29],"been":[31],"developed,":[32],"performance":[34,104,198,228],"is":[35,118,169,180,192],"degraded":[36],"to":[37],"varying":[38],"degrees":[39],"in":[40,56,138],"severe":[41],"weather":[42,58],"such":[43,108],"as":[44,109],"rain":[45],"snowfall.":[47],"This":[48],"restricts":[49],"the":[50,65,98,103,128,151,161,188,206,227],"reliable":[51],"operation":[52],"all":[57,60],"scenes.":[61],"To":[62],"quantitatively":[63],"evaluate":[64],"impact":[66],"snow":[68,101,131],"on":[69,102],"LiDAR":[70,78,86,139,200,240],"performance,":[71],"this":[72,216],"paper":[73,217],"creates":[74],"publishes":[76],"a":[77,133,222],"point":[79,110],"cloud":[80,111],"dataset":[81],"(MSP":[82],"dataset)":[83],"covering":[84],"different":[85],"models,":[87],"snowfall":[88,235],"intensities,":[89],"test":[91],"scenarios.":[92],"Through":[93],"theoretical":[94,223],"data-driven":[96],"analysis,":[97],"influence":[99],"parameters":[105],"LiDAR,":[107],"distribution,":[112],"range,":[114],"sensing":[116,197,241],"accuracy,":[117],"evaluated":[119],"qualitatively":[120],"quantitatively.":[122],"The":[123,141,176,196,212],"experimental":[124],"results":[125,214],"show":[126],"that":[127],"presence":[129],"induces":[132],"significant":[134],"amount":[135],"noise":[137,144],"systems.":[140],"level":[142],"varies":[145],"distance":[147,191],"height,":[149],"following":[150],"Gamma":[152],"t":[154],"location-scale":[155],"distributions,":[156],"respectively.":[157,175],"During":[158],"heavy":[159],"snowfall,":[160],"recognition":[162],"pedestrians":[166],"by":[167,171,182,194,209],"reduced":[170,181,193,204],"50%":[172],"20%,":[174],"target":[177],"about":[183],"9":[184],"percentage":[185],"points,":[186],"effective":[189],"14-17m.":[195],"will":[201],"be":[202],"significantly":[203],"within":[205],"range":[207],"affected":[208],"snowflake":[210],"noise.":[211],"research":[213],"provide":[218],"important":[219],"data":[220],"basis":[224],"evaluating":[226],"LiDAR-based":[230],"driving":[232],"systems":[233],"during":[234],"conditions":[236],"designing":[238],"corresponding":[239],"processing":[243],"methods.":[244]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-17T09:13:05.818461","created_date":"2025-10-10T00:00:00"}