{"id":"https://openalex.org/W7124417353","doi":"https://doi.org/10.1109/tits.2026.3651273","title":"CrossRay3D: Geometry and Distribution Guidance for Efficient Multimodal 3D Detection","display_name":"CrossRay3D: Geometry and Distribution Guidance for Efficient Multimodal 3D Detection","publication_year":2026,"publication_date":"2026-01-16","ids":{"openalex":"https://openalex.org/W7124417353","doi":"https://doi.org/10.1109/tits.2026.3651273"},"language":null,"primary_location":{"id":"doi:10.1109/tits.2026.3651273","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2026.3651273","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":null,"display_name":"Huiming Yang","orcid":"https://orcid.org/0009-0001-3485-937X"},"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":"Huiming Yang","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0001-3485-937X","affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123186107","display_name":"Wenzhuo Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210165204","display_name":"Zhuhai Institute of Advanced Technology","ror":"https://ror.org/05r1mzq61","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761","https://openalex.org/I4210165204"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenzhuo Liu","raw_affiliation_strings":["Division of Energy-Mobility Convergence, Beijing Institute of Technology, Zhuhai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Energy-Mobility Convergence, Beijing Institute of Technology, Zhuhai, China","institution_ids":["https://openalex.org/I4210165204"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113317652","display_name":"Yicheng Qiao","orcid":null},"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":"Yicheng Qiao","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0008-3790-6400","affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":null,"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":false,"raw_author_name":"Lei Yang","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-1800-6892","affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066923468","display_name":"X. Zeng","orcid":"https://orcid.org/0000-0002-1911-9162"},"institutions":[{"id":"https://openalex.org/I4210165204","display_name":"Zhuhai Institute of Advanced Technology","ror":"https://ror.org/05r1mzq61","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761","https://openalex.org/I4210165204"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xianzhu Zeng","raw_affiliation_strings":["Division of Energy-Mobility Convergence, Beijing Institute of Technology, Zhuhai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Energy-Mobility Convergence, Beijing Institute of Technology, Zhuhai, China","institution_ids":["https://openalex.org/I4210165204"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Li Wang","orcid":"https://orcid.org/0000-0002-9325-2391"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Wang","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-9325-2391","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zhiwei Li","orcid":"https://orcid.org/0000-0001-7071-199X"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiwei Li","raw_affiliation_strings":["Beijing University of Chemical Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-7071-199X","affiliations":[{"raw_affiliation_string":"Beijing University of Chemical Technology, Beijing, China","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121616340","display_name":"Zijian Zeng","orcid":null},"institutions":[{"id":"https://openalex.org/I55285296","display_name":"UCSI University","ror":"https://ror.org/019787q29","country_code":"MY","type":"education","lineage":["https://openalex.org/I55285296"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Zijian Zeng","raw_affiliation_strings":["Institute of Computer Science and Digital Innovation, UCSI University, Kuala Lumpur, Malaysia"],"raw_orcid":"https://orcid.org/0000-0002-6038-5155","affiliations":[{"raw_affiliation_string":"Institute of Computer Science and Digital Innovation, UCSI University, Kuala Lumpur, Malaysia","institution_ids":["https://openalex.org/I55285296"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123243789","display_name":"Zhiying Jiang","orcid":null},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiying Jiang","raw_affiliation_strings":["Beijing University of Chemical Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-8840-7056","affiliations":[{"raw_affiliation_string":"Beijing University of Chemical Technology, Beijing, China","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123207056","display_name":"Huaping Liu","orcid":null},"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":"Huaping Liu","raw_affiliation_strings":["Department of Computer Science and Technology, State Key Laboratory of Intelligent Technology and Systems, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-4042-6044","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Technology, State Key Laboratory of Intelligent Technology and Systems, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5123210710","display_name":"Kunfeng Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kunfeng Wang","raw_affiliation_strings":["Beijing University of Chemical Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-2744-1191","affiliations":[{"raw_affiliation_string":"Beijing University of Chemical Technology, Beijing, China","institution_ids":["https://openalex.org/I75390827"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.8119,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.92663501,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"27","issue":"5","first_page":"6027","last_page":"6039"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.2451999932527542,"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":0.2451999932527542,"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":0.1688999980688095,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.1362999975681305,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/robustness","display_name":"Robustness (evolution)","score":0.6478000283241272},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.5845999717712402},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.5666999816894531},{"id":"https://openalex.org/keywords/security-token","display_name":"Security token","score":0.5554999709129333},{"id":"https://openalex.org/keywords/sparse-approximation","display_name":"Sparse approximation","score":0.5022000074386597},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.48820000886917114},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.3752000033855438},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.35440000891685486},{"id":"https://openalex.org/keywords/pooling","display_name":"Pooling","score":0.3418000042438507}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.690500020980835},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6478000283241272},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.5845999717712402},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5817000269889832},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.5666999816894531},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5590999722480774},{"id":"https://openalex.org/C48145219","wikidata":"https://www.wikidata.org/wiki/Q1335365","display_name":"Security token","level":2,"score":0.5554999709129333},{"id":"https://openalex.org/C124066611","wikidata":"https://www.wikidata.org/wiki/Q28684319","display_name":"Sparse approximation","level":2,"score":0.5022000074386597},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.48820000886917114},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.3752000033855438},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.35440000891685486},{"id":"https://openalex.org/C70437156","wikidata":"https://www.wikidata.org/wiki/Q7228652","display_name":"Pooling","level":2,"score":0.3418000042438507},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.29919999837875366},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.29170000553131104},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.28839999437332153},{"id":"https://openalex.org/C56372850","wikidata":"https://www.wikidata.org/wiki/Q1050404","display_name":"Sparse matrix","level":3,"score":0.2831000089645386},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.28110000491142273},{"id":"https://openalex.org/C2780156472","wikidata":"https://www.wikidata.org/wiki/Q2355550","display_name":"Pedestrian detection","level":3,"score":0.2808000147342682},{"id":"https://openalex.org/C108154423","wikidata":"https://www.wikidata.org/wiki/Q1469792","display_name":"Salience (neuroscience)","level":2,"score":0.27619999647140503},{"id":"https://openalex.org/C2780695315","wikidata":"https://www.wikidata.org/wiki/Q3799040","display_name":"Unobservable","level":2,"score":0.2759000062942505},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.2741999924182892},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.27390000224113464},{"id":"https://openalex.org/C141379421","wikidata":"https://www.wikidata.org/wiki/Q6094427","display_name":"Iterative reconstruction","level":2,"score":0.26919999718666077},{"id":"https://openalex.org/C181095308","wikidata":"https://www.wikidata.org/wiki/Q1541599","display_name":"Geometric primitive","level":2,"score":0.2639999985694885},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.26260000467300415},{"id":"https://openalex.org/C162319229","wikidata":"https://www.wikidata.org/wiki/Q175263","display_name":"Data structure","level":2,"score":0.2565999925136566},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.2547999918460846},{"id":"https://openalex.org/C57273362","wikidata":"https://www.wikidata.org/wiki/Q576722","display_name":"Decoding methods","level":2,"score":0.2531999945640564},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.25040000677108765}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2026.3651273","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2026.3651273","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":[{"id":"https://metadata.un.org/sdg/8","display_name":"Decent work and economic growth","score":0.4422142505645752}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":60,"referenced_works":["https://openalex.org/W2108598243","https://openalex.org/W2194775991","https://openalex.org/W2897529137","https://openalex.org/W2911486422","https://openalex.org/W2963351448","https://openalex.org/W2963727135","https://openalex.org/W2964054038","https://openalex.org/W2968296999","https://openalex.org/W3035574168","https://openalex.org/W3092663126","https://openalex.org/W3096609285","https://openalex.org/W3109395584","https://openalex.org/W3167095230","https://openalex.org/W3170030651","https://openalex.org/W3199093552","https://openalex.org/W3209639308","https://openalex.org/W3215100485","https://openalex.org/W4214627427","https://openalex.org/W4225793049","https://openalex.org/W4312707458","https://openalex.org/W4312894406","https://openalex.org/W4312953085","https://openalex.org/W4313149358","https://openalex.org/W4366147540","https://openalex.org/W4382050897","https://openalex.org/W4382464460","https://openalex.org/W4383066393","https://openalex.org/W4385245566","https://openalex.org/W4385804883","https://openalex.org/W4386038419","https://openalex.org/W4386076253","https://openalex.org/W4386076667","https://openalex.org/W4387042379","https://openalex.org/W4387717448","https://openalex.org/W4387757653","https://openalex.org/W4388052703","https://openalex.org/W4388692139","https://openalex.org/W4389038564","https://openalex.org/W4390874155","https://openalex.org/W4390874213","https://openalex.org/W4390874598","https://openalex.org/W4393149498","https://openalex.org/W4394994942","https://openalex.org/W4396817484","https://openalex.org/W4399124507","https://openalex.org/W4400975283","https://openalex.org/W4401246724","https://openalex.org/W4402702935","https://openalex.org/W4402703030","https://openalex.org/W4403742244","https://openalex.org/W4409361054","https://openalex.org/W4409473694","https://openalex.org/W4410617744","https://openalex.org/W4410770436","https://openalex.org/W4411992689","https://openalex.org/W4413146377","https://openalex.org/W7084068388","https://openalex.org/W7126251978","https://openalex.org/W7133213845","https://openalex.org/W7133232401"],"related_works":[],"abstract_inverted_index":{"The":[0,77,206],"sparse":[1,28,69,121,158],"cross-modality":[2],"detector":[3],"offers":[4],"more":[5],"advantages":[6],"than":[7,184],"its":[8],"counterpart,":[9],"the":[10,31,52,57,61,65,68,92,101,125,139,143,147,152,167],"Bird\u2019s-Eye-View":[11],"(BEV)":[12],"detector,":[13,70,160],"particularly":[14],"in":[15,124,194],"terms":[16],"of":[17,33,67,80,103,127],"adaptability":[18],"for":[19],"downstream":[20],"tasks":[21],"and":[22,43,56,71,95,146,178],"computational":[23],"cost":[24],"savings.":[25],"However,":[26],"existing":[27],"detectors":[29,123],"overlook":[30],"quality":[32,42],"token":[34,116],"representation,":[35],"leaving":[36],"it":[37],"with":[38,110,175],"a":[39,73],"sub-optimal":[40],"foreground":[41],"limited":[44],"performance.":[45],"In":[46],"this":[47],"paper,":[48],"we":[49,130,150],"identify":[50],"that":[51,107],"geometric":[53,89],"structure":[54],"preserved":[55],"class":[58,104],"distribution":[59,140],"are":[60,113,201],"key":[62],"to":[63,137],"improving":[64],"performance":[66,174],"propose":[72],"Sparse":[74],"Selector":[75],"(SS).":[76],"core":[78],"module":[79,154],"SS":[81],"is":[82,208],"Ray-Aware":[83],"Supervision":[84],"(RAS),":[85],"which":[86,98],"preserves":[87],"rich":[88],"information":[90],"during":[91,115],"training":[93],"stage,":[94],"Class-Balanced":[96],"Supervision,":[97],"adaptively":[99],"reweights":[100],"salience":[102],"semantics,":[105],"ensuring":[106],"tokens":[108],"associated":[109],"small":[111],"objects":[112],"retained":[114],"sampling.":[117],"Thereby,":[118],"outperforming":[119],"other":[120,185],"multi-modal":[122],"representation":[126],"tokens.":[128],"Additionally,":[129],"design":[131],"Ray":[132],"Positional":[133],"Encoding":[134],"(Ray":[135],"PE)":[136],"address":[138],"differences":[141],"between":[142],"LiDAR":[144,197],"modality":[145],"image.":[148],"Finally,":[149],"integrate":[151],"aforementioned":[153],"into":[155],"an":[156],"end-to-end":[157],"multi-modality":[159],"dubbed":[161],"CrossRay3D.":[162],"Experiments":[163],"show":[164],"that,":[165],"on":[166],"challenging":[168],"nuScenes":[169],"benchmark,":[170],"CrossRay3D":[171,189],"achieves":[172],"state-of-the-art":[173],"72.4%":[176],"mAP":[177],"74.7%":[179],"NDS,":[180],"while":[181],"running$1.84\\times":[182],"$faster":[183],"leading":[186],"methods.":[187],"Moreover,":[188],"demonstrates":[190],"strong":[191],"robustness":[192],"even":[193],"scenarios":[195],"where":[196],"or":[198,203],"camera":[199],"data":[200],"partially":[202],"entirely":[204],"missing.":[205],"code":[207],"available":[209],"onhttps://github.com/xuehaipiaoxiang/CrossRay3D":[210]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2026-01-17T00:00:00"}