{"id":"https://openalex.org/W4386453674","doi":"https://doi.org/10.1109/tiv.2023.3311949","title":"SSD-MonoDETR: Supervised Scale-Aware Deformable Transformer for Monocular 3D Object Detection","display_name":"SSD-MonoDETR: Supervised Scale-Aware Deformable Transformer for Monocular 3D Object Detection","publication_year":2023,"publication_date":"2023-09-05","ids":{"openalex":"https://openalex.org/W4386453674","doi":"https://doi.org/10.1109/tiv.2023.3311949"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2023.3311949","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2023.3311949","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/A5007423796","display_name":"Xuan He","orcid":"https://orcid.org/0000-0001-8150-0135"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xuan He","raw_affiliation_strings":["College of Computer Science and Electronic Engineering, Hunan University, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Computer Science and Electronic Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049191429","display_name":"Fan Yang","orcid":"https://orcid.org/0000-0002-6844-2521"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fan Yang","raw_affiliation_strings":["College of Computer Science and Electronic Engineering, Hunan University, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Computer Science and Electronic Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027010844","display_name":"Kailun Yang","orcid":"https://orcid.org/0000-0002-1090-667X"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kailun Yang","raw_affiliation_strings":["School of Robotics, Hunan University, Changsha, China","National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University, Changsha, China"],"affiliations":[{"raw_affiliation_string":"School of Robotics, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]},{"raw_affiliation_string":"National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101566662","display_name":"Jiacheng Lin","orcid":"https://orcid.org/0000-0003-1393-5027"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiacheng Lin","raw_affiliation_strings":["College of Computer Science and Electronic Engineering, Hunan University, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Computer Science and Electronic Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090663705","display_name":"Haolong Fu","orcid":"https://orcid.org/0000-0002-7903-6414"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haolong Fu","raw_affiliation_strings":["College of Computer Science and Electronic Engineering, Hunan University, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Computer Science and Electronic Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100377147","display_name":"Meng Wang","orcid":"https://orcid.org/0000-0002-3094-7735"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Meng Wang","raw_affiliation_strings":["School of Computer Science, Hefei University of Technology, Hefei, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, Hefei University of Technology, Hefei, China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100603557","display_name":"Jin Yuan","orcid":"https://orcid.org/0000-0002-9600-7789"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jin Yuan","raw_affiliation_strings":["College of Computer Science and Electronic Engineering, Hunan University, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Computer Science and Electronic Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100396723","display_name":"Zhiyong Li","orcid":"https://orcid.org/0000-0001-9720-5915"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyong Li","raw_affiliation_strings":["College of Computer Science and Electronic Engineering, Hunan University, Changsha, China","National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University, Changsha, China","School of Robotics, Hunan University, China"],"affiliations":[{"raw_affiliation_string":"College of Computer Science and Electronic Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]},{"raw_affiliation_string":"National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]},{"raw_affiliation_string":"School of Robotics, Hunan University, China","institution_ids":["https://openalex.org/I16609230"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5007423796"],"corresponding_institution_ids":["https://openalex.org/I16609230"],"apc_list":null,"apc_paid":null,"fwci":2.6238,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.91803578,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"9","issue":"1","first_page":"555","last_page":"567"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9991999864578247,"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":0.9991999864578247,"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/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.9991000294685364,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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/computer-science","display_name":"Computer science","score":0.6447962522506714},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6212828755378723},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6177754402160645},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5995730757713318},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.5541616082191467},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4682154655456543},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.14808699488639832},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.13338470458984375},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.10337048768997192},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10308733582496643},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.040311992168426514}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6447962522506714},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6212828755378723},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6177754402160645},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5995730757713318},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.5541616082191467},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4682154655456543},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.14808699488639832},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.13338470458984375},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.10337048768997192},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10308733582496643},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.040311992168426514}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tiv.2023.3311949","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2023.3311949","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/4","display_name":"Quality Education","score":0.5099999904632568}],"awards":[{"id":"https://openalex.org/G2518937804","display_name":null,"funder_award_id":"21A20518","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2781639450","display_name":null,"funder_award_id":"61976086","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8637866159","display_name":null,"funder_award_id":"62272157","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":82,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1901129140","https://openalex.org/W1923184257","https://openalex.org/W2194775991","https://openalex.org/W2468368736","https://openalex.org/W2560544142","https://openalex.org/W2594519801","https://openalex.org/W2953941229","https://openalex.org/W2962766617","https://openalex.org/W2962807143","https://openalex.org/W2963323244","https://openalex.org/W2963351448","https://openalex.org/W2963727135","https://openalex.org/W2963809933","https://openalex.org/W2981857055","https://openalex.org/W2982770724","https://openalex.org/W2997790735","https://openalex.org/W2998633559","https://openalex.org/W2999947750","https://openalex.org/W3034479628","https://openalex.org/W3035180028","https://openalex.org/W3035254347","https://openalex.org/W3096609285","https://openalex.org/W3106834807","https://openalex.org/W3107331169","https://openalex.org/W3108426750","https://openalex.org/W3109240920","https://openalex.org/W3114509423","https://openalex.org/W3138516171","https://openalex.org/W3148242781","https://openalex.org/W3156216502","https://openalex.org/W3165924482","https://openalex.org/W3169690993","https://openalex.org/W3172261075","https://openalex.org/W3173668541","https://openalex.org/W3175233244","https://openalex.org/W3176319743","https://openalex.org/W3184907672","https://openalex.org/W3193939309","https://openalex.org/W3199093552","https://openalex.org/W3203974803","https://openalex.org/W3204439495","https://openalex.org/W3204445544","https://openalex.org/W3205005447","https://openalex.org/W3206528488","https://openalex.org/W3215100485","https://openalex.org/W4200496373","https://openalex.org/W4200632008","https://openalex.org/W4214558638","https://openalex.org/W4214627427","https://openalex.org/W4220726952","https://openalex.org/W4226085288","https://openalex.org/W4226546914","https://openalex.org/W4286285640","https://openalex.org/W4296425725","https://openalex.org/W4312335509","https://openalex.org/W4312461898","https://openalex.org/W4312630673","https://openalex.org/W4312713480","https://openalex.org/W4312856322","https://openalex.org/W4312865155","https://openalex.org/W4313039600","https://openalex.org/W4317496717","https://openalex.org/W4319299958","https://openalex.org/W4319300623","https://openalex.org/W4320002769","https://openalex.org/W4362654659","https://openalex.org/W4376607884","https://openalex.org/W4377971342","https://openalex.org/W4380318404","https://openalex.org/W4383066343","https://openalex.org/W4385245566","https://openalex.org/W4386076281","https://openalex.org/W4390873008","https://openalex.org/W6686211706","https://openalex.org/W6756392615","https://openalex.org/W6760424586","https://openalex.org/W6784094891","https://openalex.org/W6785665406","https://openalex.org/W6798507422","https://openalex.org/W6799331316","https://openalex.org/W6800044047"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Transformer-based":[0],"methods":[1,26],"have":[2],"demonstrated":[3],"superior":[4],"performance":[5,197],"for":[6,92,117],"monocular":[7,93],"3D":[8,16,94],"object":[9,95,118,135],"detection":[10,53,187],"recently,":[11],"which":[12,160],"aims":[13],"at":[14,211],"predicting":[15],"attributes":[17],"from":[18,144],"a":[19,49,85,114,150],"single":[20],"2D":[21],"image.":[22],"Most":[23],"existing":[24,56,202],"transformer-based":[25],"leverage":[27],"both":[28],"visual":[29,109],"and":[30,40,105,108,177,192],"depth":[31,107],"representations":[32],"to":[33,64,70,111,137,156,167,200],"explore":[34],"valuable":[35],"query":[36,46,67,119,136,140],"points":[37,47],"on":[38,52,75,174,190],"objects,":[39,194],"the":[41,44,122,129,168,175,186,201],"quality":[42],"of":[43,133],"learned":[45],"has":[48],"great":[50],"impact":[51],"accuracy.":[54],"Unfortunately,":[55],"unsupervised":[57,169],"attention":[58,170],"mechanisms":[59],"in":[60],"transformers":[61],"are":[62],"prone":[63],"generate":[65],"low-quality":[66],"features":[68,110],"due":[69],"inaccurate":[71],"receptive":[72,131],"fields,":[73],"especially":[74,189],"hard":[76,193],"objects.":[77],"To":[78],"tackle":[79],"this":[80,82],"problem,":[81],"paper":[83],"proposes":[84],"novel":[86],"\u201cSupervised":[87],"Scale-aware":[88],"Deformable":[89],"Attention\u201d":[90],"(SSDA)":[91],"detection.":[96],"Specifically,":[97],"SSDA":[98,125,146,183],"presets":[99],"several":[100],"masks":[101],"with":[102,149],"different":[103],"scales":[104],"utilizes":[106],"adaptively":[112],"learn":[113],"scale-aware":[115],"filter":[116],"augmentation.":[120],"Imposing":[121],"scale":[123,158],"awareness,":[124],"could":[126],"well":[127],"predict":[128],"accurate":[130],"field":[132],"an":[134],"support":[138],"robust":[139],"feature":[141],"generation.":[142],"Aside":[143],"this,":[145],"is":[147],"assigned":[148],"Weighted":[151],"Scale":[152],"Matching":[153],"(WSM)":[154],"loss":[155],"supervise":[157],"prediction,":[159],"presents":[161],"more":[162],"confident":[163],"results":[164],"as":[165,198],"compared":[166,199],"mechanisms.":[171],"Extensive":[172],"experiments":[173],"KITTI":[176],"Waymo":[178],"Open":[179],"datasets":[180],"demonstrate":[181],"that":[182],"significantly":[184],"improves":[185],"accuracy,":[188],"moderate":[191],"yielding":[195],"state-of-the-art":[196],"approaches.":[203],"Our":[204],"code":[205],"will":[206],"be":[207],"made":[208],"publicly":[209],"available":[210],"<uri":[212],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[213],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://github.com/mikasa3lili/SSD-MonoDETR</uri>":[214],".":[215]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":2}],"updated_date":"2026-04-12T07:58:50.170612","created_date":"2025-10-10T00:00:00"}
