{"id":"https://openalex.org/W4389076543","doi":"https://doi.org/10.1109/tiv.2023.3337236","title":"A Hierarchical Scheme of Road Unevenness Perception With LiDAR for Autonomous Driving Comfort","display_name":"A Hierarchical Scheme of Road Unevenness Perception With LiDAR for Autonomous Driving Comfort","publication_year":2023,"publication_date":"2023-11-28","ids":{"openalex":"https://openalex.org/W4389076543","doi":"https://doi.org/10.1109/tiv.2023.3337236"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2023.3337236","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2023.3337236","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/A5103068867","display_name":"Tong Zhao","orcid":"https://orcid.org/0000-0003-4119-7981"},"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":true,"raw_author_name":"Tong Zhao","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"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/A5101588583","display_name":"Peilin Guo","orcid":"https://orcid.org/0009-0005-3644-5356"},"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":"Peilin Guo","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"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/A5028717817","display_name":"Junxiang He","orcid":"https://orcid.org/0009-0002-1736-9923"},"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":"Junxiang He","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100722062","display_name":"Yintao Wei","orcid":"https://orcid.org/0000-0003-0673-9095"},"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":"Yintao Wei","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5103068867"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":4.5516,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.95422819,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"9","issue":"1","first_page":"2439","last_page":"2448"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11606","display_name":"Infrastructure Maintenance and Monitoring","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11606","display_name":"Infrastructure Maintenance and Monitoring","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9912999868392944,"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"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9732999801635742,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/pothole","display_name":"Pothole (geology)","score":0.8762234449386597},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.8088813424110413},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6072520017623901},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5752580761909485},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5737159252166748},{"id":"https://openalex.org/keywords/road-surface","display_name":"Road surface","score":0.5556273460388184},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4793430268764496},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4786590039730072},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4383805990219116},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.43462836742401123},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.42768335342407227},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4129365384578705},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4057205021381378},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.3443564474582672},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.283594012260437},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.1628120243549347},{"id":"https://openalex.org/keywords/civil-engineering","display_name":"Civil engineering","score":0.16154888272285461},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1355476677417755},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09329068660736084}],"concepts":[{"id":"https://openalex.org/C2776023743","wikidata":"https://www.wikidata.org/wiki/Q7234907","display_name":"Pothole (geology)","level":2,"score":0.8762234449386597},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8088813424110413},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6072520017623901},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5752580761909485},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5737159252166748},{"id":"https://openalex.org/C2780042925","wikidata":"https://www.wikidata.org/wiki/Q1049667","display_name":"Road surface","level":2,"score":0.5556273460388184},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4793430268764496},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4786590039730072},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4383805990219116},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.43462836742401123},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.42768335342407227},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4129365384578705},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4057205021381378},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.3443564474582672},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.283594012260437},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.1628120243549347},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.16154888272285461},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1355476677417755},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09329068660736084},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C5900021","wikidata":"https://www.wikidata.org/wiki/Q163082","display_name":"Petrology","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tiv.2023.3337236","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2023.3337236","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/13","score":0.4099999964237213,"display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W1980849320","https://openalex.org/W1996283814","https://openalex.org/W2103420503","https://openalex.org/W2792484365","https://openalex.org/W2799724138","https://openalex.org/W2893333163","https://openalex.org/W2903665206","https://openalex.org/W2903952299","https://openalex.org/W2909378095","https://openalex.org/W2963231572","https://openalex.org/W2964334191","https://openalex.org/W2979750740","https://openalex.org/W2981009733","https://openalex.org/W2981199548","https://openalex.org/W3005450668","https://openalex.org/W3012494314","https://openalex.org/W3014337034","https://openalex.org/W3033894629","https://openalex.org/W3034999825","https://openalex.org/W3039448353","https://openalex.org/W3039472601","https://openalex.org/W3041049917","https://openalex.org/W3046569424","https://openalex.org/W3104038589","https://openalex.org/W3111535274","https://openalex.org/W3127982036","https://openalex.org/W3131279320","https://openalex.org/W3153465022","https://openalex.org/W3168174802","https://openalex.org/W3210751314","https://openalex.org/W3215110309","https://openalex.org/W4214838030","https://openalex.org/W4280620123","https://openalex.org/W4281263174","https://openalex.org/W4286776321","https://openalex.org/W4290099025","https://openalex.org/W4294811239","https://openalex.org/W4309758191","https://openalex.org/W4321366502","https://openalex.org/W4321488205","https://openalex.org/W4365420262","https://openalex.org/W4368232638","https://openalex.org/W4379537881","https://openalex.org/W4387356464","https://openalex.org/W6640004471","https://openalex.org/W6675606146","https://openalex.org/W6739778489","https://openalex.org/W6856911140"],"related_works":["https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W4386223542","https://openalex.org/W3000602481","https://openalex.org/W3162223736","https://openalex.org/W4385154619","https://openalex.org/W3195637265","https://openalex.org/W2403496619","https://openalex.org/W3207627154","https://openalex.org/W4313138191"],"abstract_inverted_index":{"Road":[0,129],"unevenness":[1,94,143,177],"is":[2,84,96],"a":[3,44],"significant":[4],"factor":[5],"affecting":[6],"the":[7,69,101,106,118,126,148],"comprehensive":[8,30],"driving":[9],"performance":[10],"of":[11,62,108,141,147],"vehicles.":[12],"Monitoring":[13],"road":[14,50,79,159,165,176],"roughness":[15,160],"conditions":[16],"in":[17,111,172],"advance":[18],"significantly":[19],"contributes":[20],"to":[21,92],"ride":[22],"safety":[23],"and":[24,52,144,163,179],"comfort.":[25],"However,":[26],"there":[27],"are":[28,66,135,151],"hardly":[29],"implementations":[31],"for":[32,58,158,175],"comfort":[33,181],"promotion":[34],"purpose":[35],"based":[36],"on":[37,117,132],"LiDAR":[38],"point":[39,60,75],"clouds.":[40],"This":[41],"paper":[42],"proposes":[43],"hierarchical":[45],"scheme":[46,157],"that":[47],"separately":[48],"describes":[49],"regular":[51,142],"irregular":[53,93,149],"unevenness.":[54],"Firstly,":[55],"real-vehicle":[56],"experiments":[57,99],"collecting":[59],"clouds":[61],"various":[63],"uneven":[64],"roads":[65],"conducted":[67],"with":[68,78,100],"designed":[70],"hardware":[71],"platform.":[72],"A":[73],"dense":[74],"cloud":[76],"dataset":[77],"bump":[80],"or":[81],"pothole":[82],"annotations":[83],"released.":[85],"Then,":[86],"an":[87],"improved":[88],"PointNet++":[89],"model":[90,110],"adapted":[91],"recognition":[95],"developed.":[97],"Comparison":[98],"recent":[102],"segmentation":[103],"methods":[104],"verify":[105],"superiority":[107],"our":[109],"this":[112],"task.":[113],"The":[114,138,154],"mIoU":[115],"metric":[116],"test":[119],"set":[120],"reaches":[121],"91.6%,":[122],"outperforming":[123],"3.0%":[124],"than":[125],"original":[127],"model.":[128],"elevation":[130],"profiles":[131],"tire":[133],"trajectories":[134],"finally":[136],"constructed.":[137],"statistical":[139],"parameters":[140],"geometric":[145],"features":[146],"sections":[150],"extracted,":[152],"respectively.":[153],"proposed":[155],"perception":[156],"provides":[161],"detailed":[162],"accurate":[164],"condition":[166],"information.":[167],"It":[168],"has":[169],"great":[170],"potential":[171],"practical":[173],"applications":[174],"monitoring":[178],"vehicle":[180],"improvement.":[182]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":14}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}