{"id":"https://openalex.org/W4280492519","doi":"https://doi.org/10.1109/tnnls.2022.3171553","title":"3D-DFM: Anchor-Free Multimodal 3-D Object Detection With Dynamic Fusion Module for Autonomous Driving","display_name":"3D-DFM: Anchor-Free Multimodal 3-D Object Detection With Dynamic Fusion Module for Autonomous Driving","publication_year":2022,"publication_date":"2022-05-13","ids":{"openalex":"https://openalex.org/W4280492519","doi":"https://doi.org/10.1109/tnnls.2022.3171553","pmid":"https://pubmed.ncbi.nlm.nih.gov/35560081"},"language":"en","primary_location":{"id":"doi:10.1109/tnnls.2022.3171553","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2022.3171553","pdf_url":null,"source":{"id":"https://openalex.org/S4210175523","display_name":"IEEE Transactions on Neural Networks and Learning Systems","issn_l":"2162-237X","issn":["2162-237X","2162-2388"],"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 Neural Networks and Learning Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056581153","display_name":"Chunmian Lin","orcid":"https://orcid.org/0000-0002-9051-8852"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunmian Lin","raw_affiliation_strings":["Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beijing Advanced Innovation Center for Big Data and Brain Computing, School of Transportation Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-9051-8852","affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beijing Advanced Innovation Center for Big Data and Brain Computing, School of Transportation Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052586688","display_name":"Daxin Tian","orcid":"https://orcid.org/0000-0001-7796-5650"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Daxin Tian","raw_affiliation_strings":["Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beijing Advanced Innovation Center for Big Data and Brain Computing, School of Transportation Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-7796-5650","affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beijing Advanced Innovation Center for Big Data and Brain Computing, School of Transportation Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059123327","display_name":"Xuting Duan","orcid":"https://orcid.org/0000-0001-5931-8310"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuting Duan","raw_affiliation_strings":["Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beijing Advanced Innovation Center for Big Data and Brain Computing, School of Transportation Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-5931-8310","affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beijing Advanced Innovation Center for Big Data and Brain Computing, School of Transportation Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020300563","display_name":"Jianshan Zhou","orcid":"https://orcid.org/0000-0001-5331-6162"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianshan Zhou","raw_affiliation_strings":["Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beijing Advanced Innovation Center for Big Data and Brain Computing, School of Transportation Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-5331-6162","affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beijing Advanced Innovation Center for Big Data and Brain Computing, School of Transportation Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027569449","display_name":"Dezong Zhao","orcid":"https://orcid.org/0000-0002-9848-372X"},"institutions":[{"id":"https://openalex.org/I7882870","display_name":"University of Glasgow","ror":"https://ror.org/00vtgdb53","country_code":"GB","type":"education","lineage":["https://openalex.org/I7882870"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Dezong Zhao","raw_affiliation_strings":["James Watt School of Engineering, University of Glasgow, Glasgow, U.K"],"raw_orcid":"https://orcid.org/0000-0002-9848-372X","affiliations":[{"raw_affiliation_string":"James Watt School of Engineering, University of Glasgow, Glasgow, U.K","institution_ids":["https://openalex.org/I7882870"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031991761","display_name":"Dongpu Cao","orcid":"https://orcid.org/0000-0001-7929-4336"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Dongpu Cao","raw_affiliation_strings":["Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0001-7929-4336","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.5237,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":{"value":0.94114517,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"34","issue":"12","first_page":"10812","last_page":"10822"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9988999962806702,"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"}},{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9936000108718872,"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/computer-science","display_name":"Computer science","score":0.7021781802177429},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.6869134306907654},{"id":"https://openalex.org/keywords/design-for-manufacturability","display_name":"Design for manufacturability","score":0.6785746812820435},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6035656332969666},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.580610990524292},{"id":"https://openalex.org/keywords/bridging","display_name":"Bridging (networking)","score":0.4403115510940552},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.44028031826019287},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.22069045901298523},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1865083873271942}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7021781802177429},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.6869134306907654},{"id":"https://openalex.org/C62064638","wikidata":"https://www.wikidata.org/wiki/Q553878","display_name":"Design for manufacturability","level":2,"score":0.6785746812820435},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6035656332969666},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.580610990524292},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.4403115510940552},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.44028031826019287},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.22069045901298523},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1865083873271942},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tnnls.2022.3171553","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2022.3171553","pdf_url":null,"source":{"id":"https://openalex.org/S4210175523","display_name":"IEEE Transactions on Neural Networks and Learning Systems","issn_l":"2162-237X","issn":["2162-237X","2162-2388"],"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 Neural Networks and Learning Systems","raw_type":"journal-article"},{"id":"pmid:35560081","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/35560081","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on neural networks and learning systems","raw_type":null},{"id":"pmh:oai:eprints.gla.ac.uk:271132","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4210235606","display_name":"ENLIGHTEN (Jurnal Bimbingan dan Konseling Islam)","issn_l":"2622-8912","issn":["2622-8912","2622-8920"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Articles"}],"best_oa_location":{"id":"pmh:oai:eprints.gla.ac.uk:271132","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4210235606","display_name":"ENLIGHTEN (Jurnal Bimbingan dan Konseling Islam)","issn_l":"2622-8912","issn":["2622-8912","2622-8920"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Articles"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.4399999976158142,"id":"https://metadata.un.org/sdg/9"}],"awards":[{"id":"https://openalex.org/G2198393071","display_name":null,"funder_award_id":"Z211100001921004","funder_id":"https://openalex.org/F4320325902","funder_display_name":"Beijing Municipal Science and Technology Commission"},{"id":"https://openalex.org/G514678690","display_name":null,"funder_award_id":"62061130221","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5589743194","display_name":null,"funder_award_id":"2020M680299","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G6260560650","display_name":"Towards Energy Efficient Autonomous Vehicles via Cloud-Aided Learning","funder_award_id":"EP/S001956/2","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G7686647633","display_name":null,"funder_award_id":"62173012","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7950865698","display_name":null,"funder_award_id":"U20A20155","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8254294870","display_name":null,"funder_award_id":"L191001","funder_id":"https://openalex.org/F4320334977","funder_display_name":"Beijing Municipal Natural 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/F4320321125","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320325902","display_name":"Beijing Municipal Science and Technology Commission","ror":null},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"},{"id":"https://openalex.org/F4320334977","display_name":"Beijing Municipal Natural Science Foundation","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":61,"referenced_works":["https://openalex.org/W1836465849","https://openalex.org/W2129987527","https://openalex.org/W2150066425","https://openalex.org/W2194775991","https://openalex.org/W2468368736","https://openalex.org/W2504335775","https://openalex.org/W2555618208","https://openalex.org/W2560609797","https://openalex.org/W2601564443","https://openalex.org/W2886335102","https://openalex.org/W2897529137","https://openalex.org/W2908510526","https://openalex.org/W2949708697","https://openalex.org/W2951517617","https://openalex.org/W2953133772","https://openalex.org/W2954174912","https://openalex.org/W2962766617","https://openalex.org/W2963037989","https://openalex.org/W2963121255","https://openalex.org/W2963351448","https://openalex.org/W2963400571","https://openalex.org/W2963727135","https://openalex.org/W2967324759","https://openalex.org/W2968296999","https://openalex.org/W2973478056","https://openalex.org/W2982363097","https://openalex.org/W2996166203","https://openalex.org/W2997747012","https://openalex.org/W2997790735","https://openalex.org/W2998254148","https://openalex.org/W3008105217","https://openalex.org/W3017930107","https://openalex.org/W3034314779","https://openalex.org/W3034602892","https://openalex.org/W3035180028","https://openalex.org/W3035461736","https://openalex.org/W3036853234","https://openalex.org/W3043237494","https://openalex.org/W3107819843","https://openalex.org/W3108426750","https://openalex.org/W3108822985","https://openalex.org/W3117804044","https://openalex.org/W3118341329","https://openalex.org/W3130463448","https://openalex.org/W3155260685","https://openalex.org/W3167095230","https://openalex.org/W3170030651","https://openalex.org/W3172752666","https://openalex.org/W3173668541","https://openalex.org/W4226398992","https://openalex.org/W6638667902","https://openalex.org/W6679461745","https://openalex.org/W6739778489","https://openalex.org/W6757817989","https://openalex.org/W6760424586","https://openalex.org/W6763422710","https://openalex.org/W6764514022","https://openalex.org/W6779564934","https://openalex.org/W6781679151","https://openalex.org/W6794141403","https://openalex.org/W6948074861"],"related_works":["https://openalex.org/W2094969048","https://openalex.org/W994558755","https://openalex.org/W3035935536","https://openalex.org/W2010746423","https://openalex.org/W2117710422","https://openalex.org/W2372119205","https://openalex.org/W1787300689","https://openalex.org/W4283270028","https://openalex.org/W1891369868","https://openalex.org/W1987106725"],"abstract_inverted_index":{"Recent":[0],"advances":[1],"in":[2],"cross-modal":[3],"3D":[4,47,80,106,153],"object":[5,48,154],"detection":[6,43,129],"rely":[7],"heavily":[8],"on":[9,113],"anchor-based":[10],"methods,":[11],"and":[12,18,44,96,122,131],"however,":[13],"intractable":[14],"anchor":[15],"parameter":[16],"tuning":[17],"computationally":[19],"expensive":[20],"postprocessing":[21],"severely":[22],"impede":[23],"an":[24,37,103,148],"embedded":[25],"system":[26],"application,":[27],"such":[28],"as":[29,88],"autonomous":[30],"driving.":[31],"In":[32,77],"this":[33,141],"work,":[34],"we":[35,60],"develop":[36],"anchor-free":[38,149],"architecture":[39],"for":[40,92],"efficient":[41],"camera-light":[42],"ranging":[45],"(LiDAR)":[46],"detection.":[49,155],"To":[50,135],"highlight":[51],"the":[52,79,114,120,136,143],"effect":[53],"of":[54,124,138],"foreground":[55],"information":[56],"from":[57],"different":[58],"modalities,":[59],"propose":[61],"a":[62,89],"dynamic":[63],"fusion":[64],"module":[65],"(DFM)":[66],"to":[67],"adaptively":[68],"interact":[69],"images":[70],"with":[71,127,151],"point":[72],"features":[73],"via":[74],"learnable":[75],"filters.":[76],"addition,":[78],"distance":[81],"intersection-over-union":[82],"(3D-DIoU)":[83],"loss":[84],"is":[85,142],"explicitly":[86],"formulated":[87],"supervision":[90],"signal":[91],"3D-oriented":[93],"box":[94],"regression":[95],"optimization.":[97],"We":[98],"integrate":[99],"these":[100],"components":[101],"into":[102],"end-to-end":[104],"multimodal":[105,152],"detector":[107],"termed":[108],"3D-DFM.":[109],"Comprehensive":[110],"experimental":[111],"results":[112],"widely":[115],"used":[116],"KITTI":[117],"dataset":[118],"demonstrate":[119],"superiority":[121],"universality":[123],"3D-DFM":[125],"architecture,":[126],"competitive":[128],"accuracy":[130],"real-time":[132],"inference":[133],"speed.":[134],"best":[137],"our":[139],"knowledge,":[140],"first":[144],"work":[145],"that":[146],"incorporates":[147],"pipeline":[150]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}