{"id":"https://openalex.org/W4399881121","doi":"https://doi.org/10.1109/tits.2024.3412759","title":"MonoGAE: Roadside Monocular 3D Object Detection With Ground-Aware Embeddings","display_name":"MonoGAE: Roadside Monocular 3D Object Detection With Ground-Aware Embeddings","publication_year":2024,"publication_date":"2024-06-21","ids":{"openalex":"https://openalex.org/W4399881121","doi":"https://doi.org/10.1109/tits.2024.3412759"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2024.3412759","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3412759","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/A5086082119","display_name":"Lei Yang","orcid":"https://orcid.org/0000-0003-1800-6892"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lei Yang","raw_affiliation_strings":["State Key Laboratory of Intelligent Green Vehicle and Mobility and the School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Green Vehicle and Mobility and the School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100390719","display_name":"Xinyu Zhang","orcid":"https://orcid.org/0000-0003-0034-9037"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyu Zhang","raw_affiliation_strings":["State Key Laboratory of Intelligent Green Vehicle and Mobility and the School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Green Vehicle and Mobility and the School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025795841","display_name":"Jiaxin Yu","orcid":"https://orcid.org/0000-0001-9871-5714"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaxin Yu","raw_affiliation_strings":["School of Civil Engineering and Transportation, South China University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Civil Engineering and Transportation, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100361751","display_name":"Jun Li","orcid":"https://orcid.org/0000-0002-0437-5112"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Li","raw_affiliation_strings":["State Key Laboratory of Intelligent Green Vehicle and Mobility and the School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Green Vehicle and Mobility and the School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103068867","display_name":"Tong Zhao","orcid":"https://orcid.org/0000-0003-4119-7981"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tong Zhao","raw_affiliation_strings":["State Key Laboratory of Intelligent Green Vehicle and Mobility and the School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Green Vehicle and Mobility and the School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035406850","display_name":"Li Wang","orcid":"https://orcid.org/0000-0002-9325-2391"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Wang","raw_affiliation_strings":["State Key Laboratory of Intelligent Green Vehicle and Mobility and the School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Green Vehicle and Mobility and the School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101519939","display_name":"Yi Huang","orcid":"https://orcid.org/0000-0003-1513-8443"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Huang","raw_affiliation_strings":["State Key Laboratory of Intelligent Green Vehicle and Mobility and the School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Green Vehicle and Mobility and the School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020115290","display_name":"Chuang Zhang","orcid":"https://orcid.org/0000-0003-3936-8948"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuang Zhang","raw_affiliation_strings":["State Key Laboratory of Intelligent Green Vehicle and Mobility and the School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Green Vehicle and Mobility and the School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079684072","display_name":"Hong Wang","orcid":"https://orcid.org/0000-0002-5127-2941"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Wang","raw_affiliation_strings":["State Key Laboratory of Intelligent Green Vehicle and Mobility and the School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Green Vehicle and Mobility and the School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100346324","display_name":"Yiming Li","orcid":"https://orcid.org/0000-0002-0157-6218"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yiming Li","raw_affiliation_strings":["Tandon School of Engineering, New York University, New York City, NY, USA"],"affiliations":[{"raw_affiliation_string":"Tandon School of Engineering, New York University, New York City, NY, USA","institution_ids":["https://openalex.org/I57206974"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5086082119"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":9.2235,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":{"value":0.98654533,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"25","issue":"11","first_page":"17587","last_page":"17601"},"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":0.9926999807357788,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9911999702453613,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6858853697776794},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6231303215026855},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.557867169380188},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5572406649589539},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5537793636322021},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.46663838624954224},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.4549197852611542},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.24734878540039062}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6858853697776794},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6231303215026855},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.557867169380188},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5572406649589539},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5537793636322021},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.46663838624954224},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.4549197852611542},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.24734878540039062}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2024.3412759","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3412759","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":[],"awards":[{"id":"https://openalex.org/G1095835165","display_name":null,"funder_award_id":"52221005","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1291519918","display_name":null,"funder_award_id":"2022YFB2503003","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1384590335","display_name":null,"funder_award_id":"2022YFB2503000","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5819421476","display_name":null,"funder_award_id":"U1964203","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6313768182","display_name":null,"funder_award_id":"62273198","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G650202614","display_name":null,"funder_award_id":"52072215","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":60,"referenced_works":["https://openalex.org/W2150066425","https://openalex.org/W2194775991","https://openalex.org/W2315301138","https://openalex.org/W2468368736","https://openalex.org/W2897529137","https://openalex.org/W2954174912","https://openalex.org/W2963351448","https://openalex.org/W2967324759","https://openalex.org/W2968296999","https://openalex.org/W2972211064","https://openalex.org/W2981857055","https://openalex.org/W2982770724","https://openalex.org/W2999947750","https://openalex.org/W3034479628","https://openalex.org/W3035180028","https://openalex.org/W3035574168","https://openalex.org/W3106834807","https://openalex.org/W3109240920","https://openalex.org/W3128100939","https://openalex.org/W3154131566","https://openalex.org/W3169690993","https://openalex.org/W3171032126","https://openalex.org/W3173668541","https://openalex.org/W3176319743","https://openalex.org/W3193939309","https://openalex.org/W3206528488","https://openalex.org/W3215100485","https://openalex.org/W4285813083","https://openalex.org/W4312309370","https://openalex.org/W4312842574","https://openalex.org/W4312894406","https://openalex.org/W4312939270","https://openalex.org/W4323338596","https://openalex.org/W4352977781","https://openalex.org/W4362654659","https://openalex.org/W4363675266","https://openalex.org/W4365420262","https://openalex.org/W4367146742","https://openalex.org/W4367281358","https://openalex.org/W4376456718","https://openalex.org/W4382203297","https://openalex.org/W4382464460","https://openalex.org/W4385975752","https://openalex.org/W4386075696","https://openalex.org/W4386076547","https://openalex.org/W4389076543","https://openalex.org/W4396671089","https://openalex.org/W4401163421","https://openalex.org/W4401634204","https://openalex.org/W4402727875","https://openalex.org/W4403841936","https://openalex.org/W6760424586","https://openalex.org/W6762004615","https://openalex.org/W6838786379","https://openalex.org/W6838895621","https://openalex.org/W6851121815","https://openalex.org/W6851123386","https://openalex.org/W6856153917","https://openalex.org/W6856874339","https://openalex.org/W6864302213"],"related_works":["https://openalex.org/W3213997683","https://openalex.org/W2995270189","https://openalex.org/W2084124712","https://openalex.org/W2435467664","https://openalex.org/W2350093529","https://openalex.org/W2091635186","https://openalex.org/W4381188157","https://openalex.org/W4251947321","https://openalex.org/W2011626633","https://openalex.org/W2037866696"],"abstract_inverted_index":{"Although":[0],"the":[1,32,37,51,56,60,65,68,82,110,122,134,138,175,179,187],"majority":[2],"of":[3,59,125],"recent":[4],"autonomous":[5],"driving":[6],"systems":[7],"concentrate":[8],"on":[9,14,50,73,215],"developing":[10],"perception":[11,34],"methods":[12,84],"based":[13],"ego-vehicle":[15,33,52],"sensors,":[16],"there":[17],"is":[18,62,71,113],"an":[19],"overlooked":[20],"alternative":[21],"approach":[22,202],"that":[23,42,55],"involves":[24],"leveraging":[25],"intelligent":[26],"roadside":[27,69,88,128,222],"cameras":[28,126],"to":[29,64,121,132,156,173,178],"help":[30],"extend":[31],"ability":[35],"beyond":[36],"visual":[38],"range.":[39],"We":[40],"discover":[41],"most":[43],"existing":[44,83],"monocular":[45,211],"3D":[46,101,212,218],"object":[47,102,213],"detectors":[48,214],"rely":[49],"prior":[53,118],"assumption":[54],"optical":[57],"axis":[58],"camera":[61,70],"parallel":[63],"ground.":[66],"However,":[67],"installed":[72],"a":[74,77,95,114,148,153,193,204],"pole":[75],"with":[76,104,152,166,192],"pitched":[78],"angle,":[79],"which":[80],"makes":[81],"not":[85],"optimal":[86],"for":[87,98,221],"scenes.":[89],"In":[90,130],"this":[91],"paper,":[92],"we":[93,146,185],"introduce":[94],"novel":[96,194],"framework":[97],"Roadside":[99],"Monocular":[100],"detection":[103,219],"ground-aware":[105,159],"embeddings,":[106],"named":[107],"MonoGAE.":[108],"Specifically,":[109],"ground":[111,139,154,188,197],"plane":[112,155,189,198],"stable":[115],"and":[116,142,226],"strong":[117],"knowledge":[119],"due":[120],"fixed":[123],"installation":[124,183],"in":[127,181],"scenarios.":[129],"order":[131],"reduce":[133],"domain":[135],"gap":[136],"between":[137],"geometry":[140],"information":[141],"high-dimensional":[143,158],"image":[144,167],"features,":[145],"employ":[147],"supervised":[149],"training":[150],"paradigm":[151],"predict":[157],"embeddings.":[160],"These":[161],"embeddings":[162],"are":[163],"subsequently":[164],"integrated":[165],"features":[168],"through":[169],"cross-attention":[170],"mechanisms.":[171],"Furthermore,":[172],"improve":[174],"detector\u2019s":[176],"robustness":[177],"divergences":[180],"cameras\u2019":[182],"poses,":[184],"replace":[186],"depth":[190],"map":[191],"pixel-level":[195],"refined":[196],"equation":[199],"map.":[200],"Our":[201],"demonstrates":[203],"substantial":[205],"performance":[206],"advantage":[207],"over":[208],"all":[209],"previous":[210],"widely":[216],"recognized":[217],"benchmarks":[220],"cameras.":[223],"The":[224],"code":[225],"pre-trained":[227],"models":[228],"will":[229],"be":[230],"released":[231],"soon.":[232]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":22},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-29T08:15:47.926485","created_date":"2025-10-10T00:00:00"}