{"id":"https://openalex.org/W4407948474","doi":"https://doi.org/10.1109/tits.2025.3535595","title":"Boosting 3D Object Detection via Self-Distilling Introspective Data","display_name":"Boosting 3D Object Detection via Self-Distilling Introspective Data","publication_year":2025,"publication_date":"2025-02-26","ids":{"openalex":"https://openalex.org/W4407948474","doi":"https://doi.org/10.1109/tits.2025.3535595"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2025.3535595","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3535595","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/A5115594845","display_name":"Chaoqun Wang","orcid":"https://orcid.org/0000-0002-4649-5518"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chaoqun Wang","raw_affiliation_strings":["School of Electronics and Communication Engineering at Sun Yat-sen University, Shenzhen, China","School of Electronics and Communication Engineering, Sun Yat-sen University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Electronics and Communication Engineering at Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Electronics and Communication Engineering, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113116658","display_name":"Yiran Qin","orcid":"https://orcid.org/0009-0008-4561-0685"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiran Qin","raw_affiliation_strings":["School of Electronics and Communication Engineering at Sun Yat-sen University, Shenzhen, China","School of Electronics and Communication Engineering, Sun Yat-sen University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Electronics and Communication Engineering at Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Electronics and Communication Engineering, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086738347","display_name":"Zhan Kang","orcid":"https://orcid.org/0000-0001-6652-7831"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zijian Kang","raw_affiliation_strings":["Autonomous Driving Development, NIO, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Autonomous Driving Development, NIO, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100834570","display_name":"Ningning Ma","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ningning Ma","raw_affiliation_strings":["Autonomous Driving Development, NIO, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Autonomous Driving Development, NIO, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039893934","display_name":"Yukai Shi","orcid":"https://orcid.org/0000-0002-9413-6528"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yukai Shi","raw_affiliation_strings":["School of Information Engineering, Guangdong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100332625","display_name":"Zhen Li","orcid":"https://orcid.org/0000-0002-7669-2686"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhen Li","raw_affiliation_strings":["Chinese University of Hong Kong, Shenzhen, China","The Chinese University of Hong Kong, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Chinese University of Hong Kong, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]},{"raw_affiliation_string":"The Chinese University of Hong Kong, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003608795","display_name":"Ruimao Zhang","orcid":"https://orcid.org/0000-0001-9511-7532"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruimao Zhang","raw_affiliation_strings":["School of Electronics and Communication Engineering, Sun Yat-sen University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Electronics and Communication Engineering, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5115594845"],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":null,"apc_paid":null,"fwci":1.1874,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.77281957,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"26","issue":"5","first_page":"6587","last_page":"6600"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9934999942779541,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9932000041007996,"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/introspection","display_name":"Introspection","score":0.748100221157074},{"id":"https://openalex.org/keywords/boosting","display_name":"Boosting (machine learning)","score":0.7169730067253113},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6029176115989685},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5981932282447815},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5653585195541382},{"id":"https://openalex.org/keywords/cognitive-neuroscience-of-visual-object-recognition","display_name":"Cognitive neuroscience of visual object recognition","score":0.4197945296764374},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3893274664878845},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.38234639167785645},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3763473331928253},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3346450924873352},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.1509070098400116},{"id":"https://openalex.org/keywords/cognitive-psychology","display_name":"Cognitive psychology","score":0.11018386483192444}],"concepts":[{"id":"https://openalex.org/C129671850","wikidata":"https://www.wikidata.org/wiki/Q210501","display_name":"Introspection","level":2,"score":0.748100221157074},{"id":"https://openalex.org/C46686674","wikidata":"https://www.wikidata.org/wiki/Q466303","display_name":"Boosting (machine learning)","level":2,"score":0.7169730067253113},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6029176115989685},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5981932282447815},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5653585195541382},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.4197945296764374},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3893274664878845},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.38234639167785645},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3763473331928253},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3346450924873352},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.1509070098400116},{"id":"https://openalex.org/C180747234","wikidata":"https://www.wikidata.org/wiki/Q23373","display_name":"Cognitive psychology","level":1,"score":0.11018386483192444}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2025.3535595","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3535595","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/G2669615263","display_name":null,"funder_award_id":"62106154","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6045020889","display_name":null,"funder_award_id":"62106154","funder_id":"https://openalex.org/F4320331088","funder_display_name":"Natural Science Foundation for Young Scientists of Shanxi Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320331088","display_name":"Natural Science Foundation for Young Scientists of Shanxi Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":81,"referenced_works":["https://openalex.org/W1516898087","https://openalex.org/W1821462560","https://openalex.org/W2150066425","https://openalex.org/W2555618208","https://openalex.org/W2565639579","https://openalex.org/W2750432752","https://openalex.org/W2752782242","https://openalex.org/W2865164744","https://openalex.org/W2897529137","https://openalex.org/W2949708697","https://openalex.org/W2952787292","https://openalex.org/W2959289524","https://openalex.org/W2963140444","https://openalex.org/W2963182550","https://openalex.org/W2963400571","https://openalex.org/W2963676785","https://openalex.org/W2963727135","https://openalex.org/W2967324759","https://openalex.org/W2968296999","https://openalex.org/W2981949127","https://openalex.org/W2982157312","https://openalex.org/W2982242214","https://openalex.org/W2986015886","https://openalex.org/W3000535985","https://openalex.org/W3003618643","https://openalex.org/W3004237909","https://openalex.org/W3008115128","https://openalex.org/W3034314779","https://openalex.org/W3035204081","https://openalex.org/W3035461736","https://openalex.org/W3035574168","https://openalex.org/W3082071414","https://openalex.org/W3088260387","https://openalex.org/W3103739166","https://openalex.org/W3107212734","https://openalex.org/W3109395584","https://openalex.org/W3110239216","https://openalex.org/W3160102341","https://openalex.org/W3166470370","https://openalex.org/W3173270634","https://openalex.org/W3176459575","https://openalex.org/W3177640626","https://openalex.org/W3197654297","https://openalex.org/W3204217726","https://openalex.org/W3213288297","https://openalex.org/W4214755140","https://openalex.org/W4225986494","https://openalex.org/W4283214898","https://openalex.org/W4294344554","https://openalex.org/W4312307139","https://openalex.org/W4312307873","https://openalex.org/W4312707458","https://openalex.org/W4312804044","https://openalex.org/W4312934050","https://openalex.org/W4312980183","https://openalex.org/W4313128851","https://openalex.org/W4313142137","https://openalex.org/W4313156423","https://openalex.org/W4321231446","https://openalex.org/W4383066393","https://openalex.org/W4386071758","https://openalex.org/W4386076031","https://openalex.org/W4386076253","https://openalex.org/W4387885841","https://openalex.org/W4390874155","https://openalex.org/W4402891763","https://openalex.org/W4402916379","https://openalex.org/W6637551013","https://openalex.org/W6730179637","https://openalex.org/W6739778489","https://openalex.org/W6743188669","https://openalex.org/W6760424586","https://openalex.org/W6763422710","https://openalex.org/W6785174661","https://openalex.org/W6789011712","https://openalex.org/W6803232112","https://openalex.org/W6810161144","https://openalex.org/W6838873368","https://openalex.org/W6838956374","https://openalex.org/W6846669696","https://openalex.org/W6857428865"],"related_works":["https://openalex.org/W2963610131","https://openalex.org/W2114275278","https://openalex.org/W4292830139","https://openalex.org/W4319309705","https://openalex.org/W1489511283","https://openalex.org/W2974914859","https://openalex.org/W2026565050","https://openalex.org/W2110244802","https://openalex.org/W2163728705","https://openalex.org/W949345935"],"abstract_inverted_index":{"3D":[0,32],"object":[1,33],"detection":[2,34,233],"is":[3],"a":[4,17,95,151,199],"fundamental":[5],"yet":[6],"critical":[7],"task":[8],"for":[9,213],"autonomous":[10],"driving.":[11],"In":[12,99],"this":[13,90],"paper,":[14],"we":[15,66],"investigate":[16],"novel":[18],"self-distilling":[19],"paradigm":[20],"by":[21],"proposing":[22],"Self-distilling":[23],"Introspective":[24],"Data":[25],"(SID)":[26],"to":[27,74,93,101,109,144],"boost":[28],"the":[29,46,49,111,116,122,126,137,145,160,170,177,180,184,195,204,207,214,226,229,232,247],"accuracy":[30,234],"of":[31,48,113,140,164,179,201],"in":[35,78,119,169,217],"both":[36],"LiDAR-based":[37,155,205],"and":[38,242],"LiDAR-Camera-based":[39,171,227],"scenarios.":[40],"The":[41],"proposed":[42,196],"SID":[43,120,157,173,197,208,230],"significantly":[44,158],"improves":[45,198],"applicability":[47],"distillation":[50,103],"approach":[51],"since":[52],"it":[53],"does":[54],"not":[55],"require":[56],"extra":[57],"training":[58],"data":[59,71,92],"or":[60,84],"complex":[61],"teacher":[62,97,117],"network":[63],"design.":[64],"Specifically,":[65],"first":[67],"employ":[68],"an":[69],"introspective":[70],"augmentation":[72],"method":[73],"enrich":[75],"object-aware":[76],"information":[77],"sparse":[79,165],"point":[80,166],"clouds":[81],"through":[82],"geometric":[83],"semantic":[85,161],"injection.":[86],"We":[87],"then":[88],"utilize":[89],"enhanced":[91],"train":[94],"robust":[96],"model.":[98,147],"contrast":[100],"traditional":[102],"that":[104],"relies":[105],"on":[106,149,223,240,246],"larger":[107],"models":[108],"enhance":[110],"representations":[112,143],"smaller":[114],"ones,":[115],"model":[118,128],"shares":[121],"same":[123],"architecture":[124],"as":[125],"student":[127,146],"but":[129],"exhibits":[130],"exceptionally":[131],"high":[132],"discriminative":[133],"ability.":[134],"This":[135],"enables":[136],"effective":[138],"transfer":[139],"rich":[141],"feature":[142,185],"Rooted":[148],"such":[150],"scheme,":[152],"when":[153],"conducting":[154],"detectors,":[156,228],"enhances":[159],"representation":[162],"capabilities":[163],"clouds.":[167],"Additionally,":[168],"setting,":[172],"also":[174],"effectively":[175],"supervises":[176],"fusion":[178],"two":[181],"modalities":[182],"at":[183],"level,":[186],"ensuring":[187],"more":[188],"reasonable":[189],"cross-modal":[190],"learning.":[191],"Extensive":[192],"experiments":[193],"show":[194],"variety":[200],"detectors.":[202],"For":[203,225],"detector,":[206],"gains":[209],"2.31%":[210],"mAP":[211,238],"improvements":[212,222,245],"hard":[215],"objects":[216],"KITTI,":[218],"while":[219],"1.76%":[220],"NDS":[221,244],"nuScenes.":[224],"boosts":[231],"significantly,":[235],"with":[236],"1.5%":[237],"promotion":[239],"KITTI":[241],"2.15%":[243],"nuScenes":[248],"benchmark.":[249]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}