{"id":"https://openalex.org/W4321022064","doi":"https://doi.org/10.1109/tmm.2023.3245359","title":"DA-Net: Density-Aware 3D Object Detection Network for Point Clouds","display_name":"DA-Net: Density-Aware 3D Object Detection Network for Point Clouds","publication_year":2023,"publication_date":"2023-02-16","ids":{"openalex":"https://openalex.org/W4321022064","doi":"https://doi.org/10.1109/tmm.2023.3245359"},"language":"en","primary_location":{"id":"doi:10.1109/tmm.2023.3245359","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tmm.2023.3245359","pdf_url":null,"source":{"id":"https://openalex.org/S137030581","display_name":"IEEE Transactions on Multimedia","issn_l":"1520-9210","issn":["1520-9210","1941-0077"],"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 Multimedia","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/A5072311459","display_name":"Shuhua Wang","orcid":"https://orcid.org/0000-0002-0736-3010"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shuhua Wang","raw_affiliation_strings":["School of Engineering Science, University of Chinese Academy of Sciences, Beijing, China","School of Engineering Science, University of Chinese Academy of Sciences, No.19A Yuquan Road, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Engineering Science, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]},{"raw_affiliation_string":"School of Engineering Science, University of Chinese Academy of Sciences, No.19A Yuquan Road, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072833759","display_name":"Ke L\u00fc","orcid":"https://orcid.org/0000-0003-0176-3088"},"institutions":[{"id":"https://openalex.org/I161350542","display_name":"China Three Gorges University","ror":"https://ror.org/0419nfc77","country_code":"CN","type":"education","lineage":["https://openalex.org/I161350542"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ke Lu","raw_affiliation_strings":["School of Engineering Science, University of Chinese Academy of Sciences, Beijing, China","School of Engineering Science, University of Chinese Academy of Sciences, No.19A Yuquan Road, Beijing, China","College of Computer and Information Technology, China Three Gorges University, Yichang, China"],"affiliations":[{"raw_affiliation_string":"School of Engineering Science, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]},{"raw_affiliation_string":"School of Engineering Science, University of Chinese Academy of Sciences, No.19A Yuquan Road, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]},{"raw_affiliation_string":"College of Computer and Information Technology, China Three Gorges University, Yichang, China","institution_ids":["https://openalex.org/I161350542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100763213","display_name":"Jian Xue","orcid":"https://orcid.org/0000-0002-9460-802X"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Xue","raw_affiliation_strings":["School of Engineering Science, University of Chinese Academy of Sciences, Beijing, China","School of Engineering Science, University of Chinese Academy of Sciences, No.19A Yuquan Road, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Engineering Science, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]},{"raw_affiliation_string":"School of Engineering Science, University of Chinese Academy of Sciences, No.19A Yuquan Road, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101712597","display_name":"Yang Zhao","orcid":"https://orcid.org/0000-0002-1492-6459"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Zhao","raw_affiliation_strings":["School of Engineering Science, University of Chinese Academy of Sciences, Beijing, China","School of Engineering Science, University of Chinese Academy of Sciences, No.19A Yuquan Road, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Engineering Science, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]},{"raw_affiliation_string":"School of Engineering Science, University of Chinese Academy of Sciences, No.19A Yuquan Road, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5072311459"],"corresponding_institution_ids":["https://openalex.org/I4210165038"],"apc_list":null,"apc_paid":null,"fwci":2.0461,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.88663825,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"27","issue":null,"first_page":"665","last_page":"678"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9919000267982483,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.991599977016449,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8551086187362671},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7662640810012817},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7255240678787231},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.6607057452201843},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5890805125236511},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.5337772369384766},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5125010013580322},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.512029230594635},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.4958272874355316},{"id":"https://openalex.org/keywords/backbone-network","display_name":"Backbone network","score":0.45095008611679077},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.42920786142349243}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8551086187362671},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7662640810012817},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7255240678787231},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.6607057452201843},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5890805125236511},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.5337772369384766},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5125010013580322},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.512029230594635},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.4958272874355316},{"id":"https://openalex.org/C88796919","wikidata":"https://www.wikidata.org/wiki/Q1142907","display_name":"Backbone network","level":2,"score":0.45095008611679077},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.42920786142349243},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"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/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tmm.2023.3245359","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tmm.2023.3245359","pdf_url":null,"source":{"id":"https://openalex.org/S137030581","display_name":"IEEE Transactions on Multimedia","issn_l":"1520-9210","issn":["1520-9210","1941-0077"],"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 Multimedia","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1825513639","display_name":null,"funder_award_id":"61972375","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2973092727","display_name":null,"funder_award_id":"62032022","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4140602880","display_name":null,"funder_award_id":"61871258","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6917360456","display_name":null,"funder_award_id":"61929104","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":49,"referenced_works":["https://openalex.org/W1920022804","https://openalex.org/W1923184257","https://openalex.org/W2116588463","https://openalex.org/W2118020555","https://openalex.org/W2150066425","https://openalex.org/W2177640694","https://openalex.org/W2211722331","https://openalex.org/W2229637417","https://openalex.org/W2463032559","https://openalex.org/W2556802233","https://openalex.org/W2594519801","https://openalex.org/W2612624696","https://openalex.org/W2752782242","https://openalex.org/W2780829839","https://openalex.org/W2886904239","https://openalex.org/W2888144883","https://openalex.org/W2904332125","https://openalex.org/W2963150697","https://openalex.org/W2963231572","https://openalex.org/W2963400571","https://openalex.org/W2963721253","https://openalex.org/W2963727135","https://openalex.org/W2981949127","https://openalex.org/W2988715931","https://openalex.org/W3004237909","https://openalex.org/W3034428269","https://openalex.org/W3034579518","https://openalex.org/W3034681945","https://openalex.org/W3035057392","https://openalex.org/W3096754345","https://openalex.org/W3100234280","https://openalex.org/W3117804044","https://openalex.org/W3118268886","https://openalex.org/W3143765501","https://openalex.org/W3166470370","https://openalex.org/W3176457187","https://openalex.org/W3178218920","https://openalex.org/W3183392001","https://openalex.org/W4214526701","https://openalex.org/W4214624153","https://openalex.org/W4214755140","https://openalex.org/W4312294656","https://openalex.org/W4312437143","https://openalex.org/W4312799694","https://openalex.org/W4385245566","https://openalex.org/W6739778489","https://openalex.org/W6742650655","https://openalex.org/W6763422710","https://openalex.org/W6792192016"],"related_works":["https://openalex.org/W3006513224","https://openalex.org/W4389574804","https://openalex.org/W2046456988","https://openalex.org/W2357409937","https://openalex.org/W2348909947","https://openalex.org/W2510582230","https://openalex.org/W2894651257","https://openalex.org/W3200590620","https://openalex.org/W4200172193","https://openalex.org/W4303926741"],"abstract_inverted_index":{"3D":[0,66,105],"object":[1,31,67],"detection":[2,32,68,191,226],"is":[3,56,71,145,174],"an":[4,12,92,119],"important":[5],"but":[6],"demanding":[7],"task,":[8],"which":[9,84],"has":[10,24],"become":[11],"active":[13],"research":[14,23],"topic":[15],"in":[16,43,176,211,218,223],"the":[17,51,75,127,143,149,153,157,181,198,225],"field":[18],"of":[19,53,133,152,183,213,220,228],"multimedia.":[20],"Much":[21],"recent":[22],"been":[25],"devoted":[26],"to":[27,73,147,179],"exploiting":[28],"end-to-end":[29],"trainable":[30],"networks":[33],"with":[34,91],"point":[35,54],"clouds.":[36],"However,":[37],"most":[38],"state-of-the-art":[39,202],"methods":[40],"have":[41],"bottlenecks":[42],"detecting":[44,79],"occluded":[45,80,134,232],"objects":[46,230,233],"and":[47,81,98,118,136,139,166,188,215,222,231],"small":[48,82,170,229],"objects,":[49,83,135],"because":[50],"sparseness":[52],"clouds":[55],"exacerbated":[57],"on":[58,130,204],"these":[59],"objects.":[60,171],"In":[61],"this":[62],"paper,":[63],"a":[64,88,99,104,112],"Density-Aware":[65],"network":[69,128],"(DA-Net)":[70],"proposed":[72,123,158,175,199],"improve":[74,190],"perception":[76],"performance":[77,192,203],"for":[78,169],"contains":[85],"four":[86],"components:":[87],"backbone":[89,124],"module":[90,96,102,125],"inverse":[93],"density":[94],"scoring":[95],"(IDM)":[97],"point-wise":[100],"attention":[101],"(PAM),":[103],"intersection":[106],"over":[107],"union":[108],"Estimation":[109],"Module":[110],"(3DEM),":[111],"Consistent":[113],"Label":[114],"Assignment":[115],"(CLA)":[116],"method":[117,160,178,200],"Adaptive-Soft-NMS":[120,173],"method.":[121],"The":[122],"makes":[126],"concentrate":[129],"low-density":[131],"points":[132],"suppresses":[137],"outliers":[138],"background":[140],"points.":[141],"Then,":[142],"3DEM":[144],"introduced":[146],"evaluate":[148],"localization":[150],"quality":[151],"prediction":[154],"boxes.":[155],"Furthermore,":[156],"CLA":[159],"can":[161],"more":[162],"accurately":[163],"select":[164],"positive":[165],"negative":[167],"samples":[168],"Finally,":[172],"our":[177],"reduce":[180],"number":[182],"false":[184],"detections":[185],"during":[186],"inference":[187],"thereby":[189],"substantially.":[193],"Extensive":[194],"experiments":[195],"demonstrated":[196],"that":[197],"achieves":[201],"two":[205],"large-scale":[206],"datasets,":[207],"SUN":[208],"RGB-D":[209],"(62.1%":[210],"terms":[212,219],"mAP@0.25)":[214],"ScanNetV2":[216],"(67.1%":[217],"mAP@0.25),":[221],"particular,":[224],"accuracy":[227],"are":[234],"extremely":[235],"improved.":[236]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":4}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}