{"id":"https://openalex.org/W4386320422","doi":"https://doi.org/10.1109/tiv.2023.3310580","title":"MKD-Cooper: Cooperative 3D Object Detection for Autonomous Driving via Multi-Teacher Knowledge Distillation","display_name":"MKD-Cooper: Cooperative 3D Object Detection for Autonomous Driving via Multi-Teacher Knowledge Distillation","publication_year":2023,"publication_date":"2023-08-31","ids":{"openalex":"https://openalex.org/W4386320422","doi":"https://doi.org/10.1109/tiv.2023.3310580"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2023.3310580","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2023.3310580","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Vehicles","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/A5100337934","display_name":"Zhiyuan Li","orcid":"https://orcid.org/0000-0002-4091-6342"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyuan Li","raw_affiliation_strings":["Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-4091-6342","affiliations":[{"raw_affiliation_string":"Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009978941","display_name":"Huawei Liang","orcid":"https://orcid.org/0000-0003-1581-304X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huawei Liang","raw_affiliation_strings":["Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0003-1581-304X","affiliations":[{"raw_affiliation_string":"Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044038220","display_name":"Hanqi Wang","orcid":"https://orcid.org/0000-0003-1751-7383"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hanqi Wang","raw_affiliation_strings":["Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0003-1751-7383","affiliations":[{"raw_affiliation_string":"Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011069647","display_name":"Mingzhuo Zhao","orcid":"https://orcid.org/0000-0001-8432-4050"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingzhuo Zhao","raw_affiliation_strings":["School of Cyber Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-8432-4050","affiliations":[{"raw_affiliation_string":"School of Cyber Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100370600","display_name":"Jian Wang","orcid":"https://orcid.org/0009-0009-4200-2868"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Wang","raw_affiliation_strings":["Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China"],"raw_orcid":"https://orcid.org/0009-0009-4200-2868","affiliations":[{"raw_affiliation_string":"Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101835901","display_name":"Xiaokun Zheng","orcid":"https://orcid.org/0009-0008-1470-4806"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaokun Zheng","raw_affiliation_strings":["Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China"],"raw_orcid":"https://orcid.org/0009-0008-1470-4806","affiliations":[{"raw_affiliation_string":"Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.9539,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.87257585,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"9","issue":"1","first_page":"1490","last_page":"1500"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":1.0,"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":1.0,"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":0.9969000220298767,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9954000115394592,"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/computer-science","display_name":"Computer science","score":0.7198054194450378},{"id":"https://openalex.org/keywords/distillation","display_name":"Distillation","score":0.6197695136070251},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5527761578559875},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5386308431625366},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5043278932571411},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5017173290252686},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4499644637107849},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.44680020213127136},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.44666773080825806},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3636431396007538},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3380722403526306},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.31590354442596436}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7198054194450378},{"id":"https://openalex.org/C204030448","wikidata":"https://www.wikidata.org/wiki/Q101017","display_name":"Distillation","level":2,"score":0.6197695136070251},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5527761578559875},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5386308431625366},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5043278932571411},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5017173290252686},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4499644637107849},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.44680020213127136},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.44666773080825806},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3636431396007538},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3380722403526306},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.31590354442596436},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"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/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tiv.2023.3310580","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2023.3310580","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Vehicles","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.800000011920929,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1536680647","https://openalex.org/W1821462560","https://openalex.org/W2031575274","https://openalex.org/W2193145675","https://openalex.org/W2897529137","https://openalex.org/W2936864631","https://openalex.org/W2947723524","https://openalex.org/W2949708697","https://openalex.org/W2963140444","https://openalex.org/W2963351448","https://openalex.org/W2963727135","https://openalex.org/W2968296999","https://openalex.org/W2970938561","https://openalex.org/W2982681137","https://openalex.org/W2985739927","https://openalex.org/W3034368386","https://openalex.org/W3045672834","https://openalex.org/W3088900620","https://openalex.org/W3106250896","https://openalex.org/W3109991383","https://openalex.org/W3138154797","https://openalex.org/W3173482217","https://openalex.org/W3201193904","https://openalex.org/W3210076120","https://openalex.org/W4226546914","https://openalex.org/W4285290430","https://openalex.org/W4286544732","https://openalex.org/W4295364049","https://openalex.org/W4312604822","https://openalex.org/W4313039600","https://openalex.org/W4352977781","https://openalex.org/W4380318404","https://openalex.org/W4383108834","https://openalex.org/W4385302112","https://openalex.org/W6631190155","https://openalex.org/W6638523607","https://openalex.org/W6728994542","https://openalex.org/W6745935785","https://openalex.org/W6763422710","https://openalex.org/W6783289990","https://openalex.org/W6802966573","https://openalex.org/W6839180059"],"related_works":["https://openalex.org/W3026162553","https://openalex.org/W2768175398","https://openalex.org/W2344382886","https://openalex.org/W19111321","https://openalex.org/W2412887479","https://openalex.org/W32245304","https://openalex.org/W2953684491","https://openalex.org/W39961996","https://openalex.org/W4292830139","https://openalex.org/W4319309705"],"abstract_inverted_index":{"Accurately":[0],"detecting":[1],"objects":[2],"in":[3,14,93,154,170],"3D":[4,49],"point":[5],"clouds":[6],"is":[7],"critical":[8],"for":[9,48],"achieving":[10],"precise":[11],"scene":[12],"understanding":[13],"autonomous":[15],"driving":[16],"systems.":[17],"Cooperative":[18],"perception,":[19],"through":[20,68],"information":[21],"exchange":[22],"among":[23],"neighboring":[24,90],"vehicles,":[25,91],"can":[26],"significantly":[27],"improve":[28],"object":[29,50],"detection":[30,155,163],"performance":[31,153,161],"even":[32],"under":[33],"occlusion.":[34],"This":[35],"article":[36],"proposes":[37],"a":[38,57,94],"novel":[39],"cooperative":[40],"perception":[41],"framework":[42],"based":[43,120],"on":[44,121,140],"multi-teacher":[45,108],"knowledge":[46,109,128],"distillation":[47,110],"detection,":[51],"namely":[52],"MKD-Cooper.":[53],"First,":[54],"we":[55,82,104],"design":[56],"Collaborative":[58],"Attention":[59],"Fusion":[60],"(CAF)":[61],"module":[62,77],"that":[63,98,112,148],"dynamically":[64],"captures":[65],"inter-vehicle":[66],"interactions":[67],"channel":[69],"and":[70,143,165],"spatial":[71],"attention.":[72],"By":[73],"incorporating":[74],"the":[75,79,135,141,176],"CAF":[76,80],"into":[78],"network,":[81],"effectively":[83,125],"aggregate":[84],"shared":[85],"deep":[86],"learning-based":[87],"features":[88],"from":[89,129],"resulting":[92],"fused":[95],"feature":[96],"map":[97],"contains":[99],"rich":[100],"contextual":[101],"information.":[102],"Second,":[103],"propose":[105],"an":[106],"adaptive":[107],"method":[111,150],"adaptively":[113],"assigns":[114],"weights":[115],"to":[116,134],"different":[117],"teacher":[118,132],"models":[119,133],"their":[122],"current":[123],"performance,":[124],"transferring":[126],"valuable":[127],"multiple":[130],"excellent":[131,159],"student":[136],"model.":[137],"Experimental":[138],"results":[139],"OPV2V":[142],"V2XSim":[144],"2.0":[145],"datasets":[146],"demonstrate":[147],"our":[149,179],"achieves":[151],"state-of-the-art":[152],"accuracy":[156,164],"while":[157],"exhibiting":[158],"comprehensive":[160],"between":[162],"efficiency.":[166],"Moreover,":[167],"field":[168],"experiments":[169],"real":[171],"urban":[172],"environments":[173],"further":[174],"validate":[175],"effectiveness":[177],"of":[178],"approach.":[180]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":7}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}