{"id":"https://openalex.org/W4388692139","doi":"https://doi.org/10.1109/tiv.2023.3332608","title":"Focal-PETR: Embracing Foreground for Efficient Multi-Camera 3D Object Detection","display_name":"Focal-PETR: Embracing Foreground for Efficient Multi-Camera 3D Object Detection","publication_year":2023,"publication_date":"2023-11-15","ids":{"openalex":"https://openalex.org/W4388692139","doi":"https://doi.org/10.1109/tiv.2023.3332608"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2023.3332608","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2023.3332608","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/A5103154367","display_name":"Shihao Wang","orcid":"https://orcid.org/0009-0006-7055-131X"},"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":"Shihao Wang","raw_affiliation_strings":["Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0006-7055-131X","affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101478256","display_name":"Xiaohui Jiang","orcid":"https://orcid.org/0000-0002-2436-1543"},"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":"Xiaohui Jiang","raw_affiliation_strings":["Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-2436-1543","affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100414383","display_name":"Ying Li","orcid":"https://orcid.org/0000-0003-0608-9619"},"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":"Ying Li","raw_affiliation_strings":["Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-0608-9619","affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":3.51,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.94488337,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"9","issue":"1","first_page":"1481","last_page":"1489"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9987000226974487,"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":0.9986000061035156,"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-vision","display_name":"Computer vision","score":0.7214652299880981},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.638037919998169},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5082070827484131},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49581703543663025},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4817109704017639},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3929101824760437},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.10800063610076904}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7214652299880981},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.638037919998169},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5082070827484131},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49581703543663025},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4817109704017639},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3929101824760437},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.10800063610076904}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tiv.2023.3332608","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2023.3332608","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":[],"awards":[{"id":"https://openalex.org/G1359838088","display_name":null,"funder_award_id":"52102449","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8126675325","display_name":null,"funder_award_id":"2021M690394","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":67,"referenced_works":["https://openalex.org/W2108598243","https://openalex.org/W2194775991","https://openalex.org/W2468368736","https://openalex.org/W2752782242","https://openalex.org/W2797143217","https://openalex.org/W2908510526","https://openalex.org/W2954174912","https://openalex.org/W2962766617","https://openalex.org/W2963351448","https://openalex.org/W2969987486","https://openalex.org/W2970987838","https://openalex.org/W2982770724","https://openalex.org/W3014595575","https://openalex.org/W3035172746","https://openalex.org/W3035574168","https://openalex.org/W3092462694","https://openalex.org/W3096609285","https://openalex.org/W3107331169","https://openalex.org/W3109395584","https://openalex.org/W3136408985","https://openalex.org/W3168037706","https://openalex.org/W3171162369","https://openalex.org/W3179351458","https://openalex.org/W3199093552","https://openalex.org/W3203003533","https://openalex.org/W3203020760","https://openalex.org/W3215100485","https://openalex.org/W3217139832","https://openalex.org/W4214558638","https://openalex.org/W4214627427","https://openalex.org/W4224231583","https://openalex.org/W4225793049","https://openalex.org/W4226013992","https://openalex.org/W4226085288","https://openalex.org/W4226305814","https://openalex.org/W4287310023","https://openalex.org/W4288099366","https://openalex.org/W4289283268","https://openalex.org/W4290056039","https://openalex.org/W4312312588","https://openalex.org/W4312550876","https://openalex.org/W4312641958","https://openalex.org/W4312692509","https://openalex.org/W4312894406","https://openalex.org/W4312954223","https://openalex.org/W4313039600","https://openalex.org/W4313176116","https://openalex.org/W4320002769","https://openalex.org/W4362654659","https://openalex.org/W4376166839","https://openalex.org/W4382464460","https://openalex.org/W4385245566","https://openalex.org/W4390872833","https://openalex.org/W6756392615","https://openalex.org/W6757817989","https://openalex.org/W6760424586","https://openalex.org/W6767379092","https://openalex.org/W6779586474","https://openalex.org/W6784094891","https://openalex.org/W6796874202","https://openalex.org/W6799331316","https://openalex.org/W6802311648","https://openalex.org/W6804794748","https://openalex.org/W6811230113","https://openalex.org/W6811230874","https://openalex.org/W6840525788","https://openalex.org/W6840665015"],"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":{"The":[0,47,144],"dominant":[1],"multi-camera":[2],"3D":[3,10,45],"detection":[4],"paradigm":[5],"is":[6,146],"based":[7],"on":[8,85,109,123],"explicit":[9],"feature":[11],"construction,":[12],"which":[13],"requires":[14],"complicated":[15],"indexing":[16],"of":[17,101,118],"local":[18],"image-view":[19],"features":[20],"via":[21],"3D-to-2D":[22,48],"projection.":[23],"Other":[24],"methods":[25],"implicitly":[26],"introduce":[27],"geometric":[28],"positional":[29],"encoding":[30],"and":[31,44,51,62,76,114],"perform":[32],"global":[33,52,102],"attention":[34,53],"(e.g.,":[35],"PETR)":[36],"to":[37,55,80,97],"build":[38],"the":[39,99,110],"relationship":[40],"between":[41,59],"image":[42],"tokens":[43,61],"objects.":[46],"perspective":[49],"inconsistency":[50],"lead":[54],"a":[56,94,115,124],"weak":[57],"correlation":[58],"foreground":[60,87],"queries,":[63],"resulting":[64],"in":[65],"slow":[66],"convergence.":[67],"We":[68],"propose":[69],"<bold":[70,89,119,138],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[71,90,120,139],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Focal-PETR</b>":[72,91],"with":[73],"instance-guided":[74],"supervision":[75],"spatial":[77],"alignment":[78],"module":[79],"adaptively":[81],"focus":[82],"object":[83],"queries":[84],"discriminative":[86],"regions.":[88],"additionally":[92],"introduces":[93],"down-sampling":[95],"strategy":[96],"reduce":[98],"consumption":[100],"attention.":[103],"Our":[104],"model":[105],"achieves":[106],"leading":[107],"performance":[108],"large-scale":[111],"nuScenes":[112],"benchmark":[113],"superior":[116],"speed":[117],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">30":[121],"FPS</b>":[122],"single":[125],"RTX3090":[126],"GPU.":[127],"Extensive":[128],"experiments":[129],"show":[130],"that":[131],"our":[132],"method":[133],"outperforms":[134],"PETR":[135],"while":[136],"consuming":[137],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">3x</b>":[140],"fewer":[141],"training":[142],"hours.":[143],"code":[145],"made":[147],"publicly":[148],"available.":[149]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":5}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}