{"id":"https://openalex.org/W4404627522","doi":"https://doi.org/10.1109/tiv.2024.3505261","title":"Closing the Calibration Gap: A Real-Time Multi-Modal Fusion Framework for 3D Semantic Segmentation","display_name":"Closing the Calibration Gap: A Real-Time Multi-Modal Fusion Framework for 3D Semantic Segmentation","publication_year":2024,"publication_date":"2024-11-22","ids":{"openalex":"https://openalex.org/W4404627522","doi":"https://doi.org/10.1109/tiv.2024.3505261"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2024.3505261","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2024.3505261","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/A5100624515","display_name":"Feng Jiang","orcid":"https://orcid.org/0000-0003-4938-7798"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]},{"id":"https://openalex.org/I4210085920","display_name":"Shanghai Institute for Science of Science","ror":"https://ror.org/004srxn73","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210085920"]},{"id":"https://openalex.org/I4210164150","display_name":"Shanghai Center for Brain Science and Brain-Inspired Technology","ror":"https://ror.org/0551a0y31","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210164150"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Feng Jiang","raw_affiliation_strings":["Institute of Science and Technology for Brain-Inspired Intelligence, Fudan University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Science and Technology for Brain-Inspired Intelligence, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I4210164150","https://openalex.org/I4210085920","https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Wanqing Peng","orcid":null},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]},{"id":"https://openalex.org/I4210085920","display_name":"Shanghai Institute for Science of Science","ror":"https://ror.org/004srxn73","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210085920"]},{"id":"https://openalex.org/I4210164150","display_name":"Shanghai Center for Brain Science and Brain-Inspired Technology","ror":"https://ror.org/0551a0y31","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210164150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wanqing Peng","raw_affiliation_strings":["Institute of Science and Technology for Brain-Inspired Intelligence, Fudan University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Science and Technology for Brain-Inspired Intelligence, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I4210164150","https://openalex.org/I4210085920","https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028988130","display_name":"Chaoping Tu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chaoping Tu","raw_affiliation_strings":["Mogo Auto Intelligence and Telematics Information Technology Company, Ltd., Beijing, China","Mogo Auto Intelligence and Telematics Information Technology Co., Ltd, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mogo Auto Intelligence and Telematics Information Technology Company, Ltd., Beijing, China","institution_ids":[]},{"raw_affiliation_string":"Mogo Auto Intelligence and Telematics Information Technology Co., Ltd, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014727866","display_name":"Xiaoyan Li","orcid":"https://orcid.org/0000-0003-1536-4264"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoyan Li","raw_affiliation_strings":["Faculty of Information Technology, Beijing University of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-1536-4264","affiliations":[{"raw_affiliation_string":"Faculty of Information Technology, Beijing University of Technology, Beijing, China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100361975","display_name":"Jun Li","orcid":"https://orcid.org/0000-0002-8937-3991"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jun Li","raw_affiliation_strings":["Mogo Auto Intelligence and Telematics Information Technology Company, Ltd., Beijing, China","Mogo Auto Intelligence and Telematics Information Technology Co., Ltd, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mogo Auto Intelligence and Telematics Information Technology Company, Ltd., Beijing, China","institution_ids":[]},{"raw_affiliation_string":"Mogo Auto Intelligence and Telematics Information Technology Co., Ltd, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101942248","display_name":"Hanqing Huang","orcid":"https://orcid.org/0000-0003-1586-957X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hanqing Huang","raw_affiliation_strings":["Mogo Auto Intelligence and Telematics Information Technology Company, Ltd., Beijing, China","Mogo Auto Intelligence and Telematics Information Technology Co., Ltd, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mogo Auto Intelligence and Telematics Information Technology Company, Ltd., Beijing, China","institution_ids":[]},{"raw_affiliation_string":"Mogo Auto Intelligence and Telematics Information Technology Co., Ltd, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101451608","display_name":"Di Feng","orcid":"https://orcid.org/0000-0002-1444-3510"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Di Feng","raw_affiliation_strings":["Mogo Auto Intelligence and Telematics Information Technology Company, Ltd., Beijing, China","Mogo Auto Intelligence and Telematics Information Technology Co., Ltd, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mogo Auto Intelligence and Telematics Information Technology Company, Ltd., Beijing, China","institution_ids":[]},{"raw_affiliation_string":"Mogo Auto Intelligence and Telematics Information Technology Co., Ltd, Beijing, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058626590","display_name":"Jian Pu","orcid":"https://orcid.org/0000-0002-0892-1213"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]},{"id":"https://openalex.org/I4210085920","display_name":"Shanghai Institute for Science of Science","ror":"https://ror.org/004srxn73","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210085920"]},{"id":"https://openalex.org/I4210164150","display_name":"Shanghai Center for Brain Science and Brain-Inspired Technology","ror":"https://ror.org/0551a0y31","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210164150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Pu","raw_affiliation_strings":["Institute of Science and Technology for Brain-Inspired Intelligence, Fudan University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-0892-1213","affiliations":[{"raw_affiliation_string":"Institute of Science and Technology for Brain-Inspired Intelligence, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I4210164150","https://openalex.org/I4210085920","https://openalex.org/I24943067"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5100624515"],"corresponding_institution_ids":["https://openalex.org/I24943067","https://openalex.org/I4210085920","https://openalex.org/I4210164150"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.22486966,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"11","first_page":"4876","last_page":"4886"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9898999929428101,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9898999929428101,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T14339","display_name":"Image Processing and 3D Reconstruction","score":0.9878000020980835,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9786999821662903,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/closing","display_name":"Closing (real estate)","score":0.8377417325973511},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6734616160392761},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.6673456430435181},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.6501165628433228},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.634738564491272},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5138669013977051},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.4686749577522278},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4321382939815521},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.3375828266143799},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14355263113975525},{"id":"https://openalex.org/keywords/linguistics","display_name":"Linguistics","score":0.11827987432479858},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.09090918302536011},{"id":"https://openalex.org/keywords/business","display_name":"Business","score":0.07736614346504211},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.06802153587341309},{"id":"https://openalex.org/keywords/philosophy","display_name":"Philosophy","score":0.062053680419921875}],"concepts":[{"id":"https://openalex.org/C2778775528","wikidata":"https://www.wikidata.org/wiki/Q5135432","display_name":"Closing (real estate)","level":2,"score":0.8377417325973511},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6734616160392761},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.6673456430435181},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.6501165628433228},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.634738564491272},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5138669013977051},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.4686749577522278},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4321382939815521},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.3375828266143799},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14355263113975525},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.11827987432479858},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.09090918302536011},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.07736614346504211},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.06802153587341309},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.062053680419921875},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tiv.2024.3505261","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2024.3505261","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":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W153185079","https://openalex.org/W1990398405","https://openalex.org/W2095614026","https://openalex.org/W2131396337","https://openalex.org/W2543296129","https://openalex.org/W2594877703","https://openalex.org/W2609719703","https://openalex.org/W2795587607","https://openalex.org/W2962912109","https://openalex.org/W2968557240","https://openalex.org/W2990479855","https://openalex.org/W2990613095","https://openalex.org/W2991216808","https://openalex.org/W3003437478","https://openalex.org/W3009257359","https://openalex.org/W3014641072","https://openalex.org/W3035275207","https://openalex.org/W3035461736","https://openalex.org/W3035574168","https://openalex.org/W3039448353","https://openalex.org/W3043650969","https://openalex.org/W3093434340","https://openalex.org/W3109154950","https://openalex.org/W3169865585","https://openalex.org/W3173732446","https://openalex.org/W3177330511","https://openalex.org/W3195380476","https://openalex.org/W4224274660","https://openalex.org/W4226293698","https://openalex.org/W4226343873","https://openalex.org/W4226389400","https://openalex.org/W4238202755","https://openalex.org/W4289823737","https://openalex.org/W4293517970","https://openalex.org/W4312414163","https://openalex.org/W4320002769","https://openalex.org/W4382240251","https://openalex.org/W4386065344","https://openalex.org/W4386075910","https://openalex.org/W4388919382","https://openalex.org/W4389776357","https://openalex.org/W4390871794","https://openalex.org/W4390872460","https://openalex.org/W4390872801","https://openalex.org/W4390873072","https://openalex.org/W4395664744","https://openalex.org/W4402727667"],"related_works":["https://openalex.org/W2116422677","https://openalex.org/W2517007886","https://openalex.org/W2383994331","https://openalex.org/W1522019333","https://openalex.org/W278047738","https://openalex.org/W2076369646","https://openalex.org/W2373884197","https://openalex.org/W4244817184","https://openalex.org/W2961923709","https://openalex.org/W2516969888"],"abstract_inverted_index":{"LiDAR":[0,53],"and":[1,12,19,41,44,54,82,117],"camera":[2],"are":[3,13],"two":[4,33],"critical":[5],"sensors":[6],"for":[7],"multi-modal":[8,30,65],"3D":[9],"semantic":[10],"segmentation":[11],"supposed":[14],"to":[15,21,102,126],"be":[16,123],"fused":[17],"efficiently":[18],"robustly":[20],"promise":[22],"safety":[23],"in":[24,128],"various":[25],"real-world":[26],"scenarios.":[27],"However,":[28],"existing":[29],"methods":[31],"face":[32],"key":[34],"challenges:":[35],"1)":[36],"difficulty":[37],"with":[38],"efficient":[39],"deployment":[40,81],"real-time":[42,83],"execution;":[43],"2)":[45],"drastic":[46],"performance":[47,113,146],"degradation":[48],"under":[49],"weak":[50,95,108,149],"calibration":[51,96,150],"between":[52],"cameras.":[55],"To":[56],"address":[57],"these":[58],"challenges,":[59],"we":[60,91,144],"propose":[61],"CPGNet-LCF,":[62],"a":[63,93,134],"new":[64],"fusion":[66],"framework":[67],"extending":[68],"the":[69,74,79,88,104,107,115,153],"LiDAR-only":[70],"CPGNet.":[71,86],"CPGNet-LCF":[72,110],"solves":[73],"first":[75],"challenge":[76],"by":[77],"inheriting":[78],"easy":[80],"capabilities":[84],"of":[85,155],"For":[87],"second":[89],"challenge,":[90],"introduce":[92],"novel":[94],"knowledge":[97],"distillation":[98],"strategy":[99],"during":[100],"training":[101],"improve":[103],"robustness":[105,154],"against":[106],"calibration.":[109],"achieves":[111],"state-of-the-art":[112],"on":[114,133],"nuScenes":[116],"SemanticKITTI":[118],"benchmarks.":[119],"Remarkably,":[120],"it":[121],"can":[122],"easily":[124],"deployed":[125],"run":[127],"20":[129],"ms":[130],"per":[131],"frame":[132],"single":[135],"Tesla":[136],"V100":[137],"GPU":[138],"using":[139],"TensorRT":[140],"TF16":[141],"mode.":[142],"Furthermore,":[143],"benchmark":[145],"over":[147],"four":[148],"levels,":[151],"demonstrating":[152],"our":[156],"proposed":[157],"approach.":[158]},"counts_by_year":[],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}
