{"id":"https://openalex.org/W3157402700","doi":"https://doi.org/10.1109/tpami.2021.3076678","title":"Shape Prior Guided Instance Disparity Estimation for 3D Object Detection","display_name":"Shape Prior Guided Instance Disparity Estimation for 3D Object Detection","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3157402700","doi":"https://doi.org/10.1109/tpami.2021.3076678","mag":"3157402700","pmid":"https://pubmed.ncbi.nlm.nih.gov/33914683"},"language":"en","primary_location":{"id":"doi:10.1109/tpami.2021.3076678","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2021.3076678","pdf_url":null,"source":{"id":"https://openalex.org/S199944782","display_name":"IEEE Transactions on Pattern Analysis and Machine Intelligence","issn_l":"0162-8828","issn":["0162-8828","1939-3539","2160-9292"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","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 Pattern Analysis and Machine Intelligence","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5103263210","display_name":"Ling-Hao Chen","orcid":"https://orcid.org/0000-0002-2528-6178"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Linghao Chen","raw_affiliation_strings":["State Key Lab of CAD&CG, Zhejiang University, 12377 Hangzhou, Zhejiang, China, (e-mail: chenlinghao@zju.edu.cn)"],"affiliations":[{"raw_affiliation_string":"State Key Lab of CAD&CG, Zhejiang University, 12377 Hangzhou, Zhejiang, China, (e-mail: chenlinghao@zju.edu.cn)","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030787679","display_name":"Jiaming Sun","orcid":"https://orcid.org/0000-0003-4053-8510"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaming Sun","raw_affiliation_strings":["State Key Lab of CAD&CG, Zhejiang University, 12377 Hangzhou, Zhejiang, China, (e-mail: suenjiaming@gmail.com)"],"affiliations":[{"raw_affiliation_string":"State Key Lab of CAD&CG, Zhejiang University, 12377 Hangzhou, Zhejiang, China, (e-mail: suenjiaming@gmail.com)","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101950798","display_name":"Yiming Xie","orcid":"https://orcid.org/0000-0002-2408-403X"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiming Xie","raw_affiliation_strings":["State Key Lab of CAD&CG, Zhejiang University, 12377 Hangzhou, Zhejiang, China, (e-mail: yimingxie@zju.edu.cn)"],"affiliations":[{"raw_affiliation_string":"State Key Lab of CAD&CG, Zhejiang University, 12377 Hangzhou, Zhejiang, China, (e-mail: yimingxie@zju.edu.cn)","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100347369","display_name":"Siyu Zhang","orcid":"https://orcid.org/0000-0001-5531-8655"},"institutions":[{"id":"https://openalex.org/I4210092218","display_name":"Sensimetrics Corporation","ror":"https://ror.org/00h7y2d26","country_code":"US","type":"company","lineage":["https://openalex.org/I4210092218"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siyu Zhang","raw_affiliation_strings":["ZJU-SenseTime Joint Lab, SenseTime, Hangzhou, Zhejiang, China, (e-mail: zhangsiyu1@sensetime.com)"],"affiliations":[{"raw_affiliation_string":"ZJU-SenseTime Joint Lab, SenseTime, Hangzhou, Zhejiang, China, (e-mail: zhangsiyu1@sensetime.com)","institution_ids":["https://openalex.org/I4210092218"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084787269","display_name":"Qing Shuai","orcid":"https://orcid.org/0000-0002-2096-7599"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qing Shuai","raw_affiliation_strings":["State Key Lab of CAD&CG, Zhejiang University, 12377 Hangzhou, Zhejiang, China, (e-mail: s_q@zju.edu.cn)"],"affiliations":[{"raw_affiliation_string":"State Key Lab of CAD&CG, Zhejiang University, 12377 Hangzhou, Zhejiang, China, (e-mail: s_q@zju.edu.cn)","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102871046","display_name":"Qinhong Jiang","orcid":"https://orcid.org/0000-0002-5509-7247"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qinhong Jiang","raw_affiliation_strings":["Mobile Intelligent Group, SenseTime Group Limited, Hangzhou, Zhejiang, China, (e-mail: jiangqinhong@sensetime.com)"],"affiliations":[{"raw_affiliation_string":"Mobile Intelligent Group, SenseTime Group Limited, Hangzhou, Zhejiang, China, (e-mail: jiangqinhong@sensetime.com)","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100693448","display_name":"Guofeng Zhang","orcid":"https://orcid.org/0000-0001-5661-8430"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guofeng Zhang","raw_affiliation_strings":["Computer Science, State Key Lab of CAD&CG, Zhejiang University, Hangzhou, Zhejiang, China, 310058 (e-mail: zhangguofeng@cad.zju.edu.cn)"],"affiliations":[{"raw_affiliation_string":"Computer Science, State Key Lab of CAD&CG, Zhejiang University, Hangzhou, Zhejiang, China, 310058 (e-mail: zhangguofeng@cad.zju.edu.cn)","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059021869","display_name":"Hujun Bao","orcid":"https://orcid.org/0000-0002-2662-0334"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hujun Bao","raw_affiliation_strings":["State Key Lab of CAD&CG, Zhejiang University, 12377 Hangzhou, Zhejiang, China, (e-mail: bao@cad.zju.edu.cn)"],"affiliations":[{"raw_affiliation_string":"State Key Lab of CAD&CG, Zhejiang University, 12377 Hangzhou, Zhejiang, China, (e-mail: bao@cad.zju.edu.cn)","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101814482","display_name":"Xiaowei Zhou","orcid":"https://orcid.org/0000-0003-1926-5597"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaowei Zhou","raw_affiliation_strings":["Computer Science, Zhejiang University, 12377 Hangzhou, Zhejiang, China, (e-mail: xwzhou@zju.edu.cn)"],"affiliations":[{"raw_affiliation_string":"Computer Science, Zhejiang University, 12377 Hangzhou, Zhejiang, China, (e-mail: xwzhou@zju.edu.cn)","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5103263210"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":1.9214,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.87892157,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"44","issue":"9","first_page":"1","last_page":"1"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","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/T10531","display_name":"Advanced Vision and Imaging","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":0.9994999766349792,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9991999864578247,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.803085446357727},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.7892321348190308},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7702999711036682},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.7097898125648499},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6482465267181396},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6159707307815552},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5588774681091309},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.5283366441726685},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5072500109672546},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.4469538927078247},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4131004512310028}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.803085446357727},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.7892321348190308},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7702999711036682},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.7097898125648499},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6482465267181396},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6159707307815552},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5588774681091309},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.5283366441726685},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5072500109672546},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.4469538927078247},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4131004512310028},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tpami.2021.3076678","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2021.3076678","pdf_url":null,"source":{"id":"https://openalex.org/S199944782","display_name":"IEEE Transactions on Pattern Analysis and Machine Intelligence","issn_l":"0162-8828","issn":["0162-8828","1939-3539","2160-9292"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","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 Pattern Analysis and Machine Intelligence","raw_type":"journal-article"},{"id":"pmid:33914683","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33914683","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 pattern analysis and machine intelligence","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1921093919","https://openalex.org/W1967554269","https://openalex.org/W2133665775","https://openalex.org/W2150066425","https://openalex.org/W2184393491","https://openalex.org/W2483862638","https://openalex.org/W2505680244","https://openalex.org/W2510377077","https://openalex.org/W2555618208","https://openalex.org/W2560544142","https://openalex.org/W2604231069","https://openalex.org/W2774989038","https://openalex.org/W2798462325","https://openalex.org/W2798637590","https://openalex.org/W2889737406","https://openalex.org/W2948384918","https://openalex.org/W2949708697","https://openalex.org/W2952813711","https://openalex.org/W2954174912","https://openalex.org/W2956908398","https://openalex.org/W2962807143","https://openalex.org/W2963121255","https://openalex.org/W2963150697","https://openalex.org/W2963619659","https://openalex.org/W2964062501","https://openalex.org/W2964325922","https://openalex.org/W2972211064","https://openalex.org/W2981637078","https://openalex.org/W2988715931","https://openalex.org/W2991095133","https://openalex.org/W2996166203","https://openalex.org/W2997558685","https://openalex.org/W3014641072","https://openalex.org/W3034402935","https://openalex.org/W3034407526","https://openalex.org/W3035172746","https://openalex.org/W3035574168","https://openalex.org/W3035651586","https://openalex.org/W3035749845","https://openalex.org/W3090308608","https://openalex.org/W3090896893","https://openalex.org/W4233857083","https://openalex.org/W4394671432","https://openalex.org/W6620707391","https://openalex.org/W6686211706","https://openalex.org/W6687484953","https://openalex.org/W6722076910","https://openalex.org/W6739778489","https://openalex.org/W6760782946","https://openalex.org/W6764514022"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4281783339","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W2562256921"],"abstract_inverted_index":{"In":[0,56],"this":[1,22],"paper,":[2],"we":[3,58,98],"propose":[4,99],"a":[5,35,78,102],"novel":[6],"system":[7,121],"named":[8],"Disp":[9,141],"R-CNN":[10,142],"for":[11,43,70,82,159],"3D":[12,36],"object":[13],"detection":[14],"from":[15,91],"stereo":[16,149],"images.":[17],"Many":[18],"recent":[19],"works":[20],"solve":[21],"problem":[23],"by":[24,151],"first":[25],"recovering":[26],"point":[27,116],"clouds":[28],"with":[29],"disparity":[30,39,62,68,85,94,109],"estimation":[31,63],"and":[32,50,76,164],"then":[33],"apply":[34],"detector.":[37],"The":[38,162],"map":[40],"is":[41,48,135],"computed":[42],"the":[44,89,112,127,170],"entire":[45],"image,":[46],"which":[47,118],"costly":[49],"fails":[51],"to":[52,100,106],"leverage":[53],"category-specific":[54,79],"prior.":[55],"contrast,":[57],"design":[59],"an":[60],"instance":[61],"network":[64],"(iDispNet)":[65],"that":[66],"predicts":[67],"only":[69],"pixels":[71],"on":[72,126,148],"objects":[73],"of":[74,93,114,156],"interest":[75],"learns":[77],"shape":[80,104],"prior":[81],"more":[83,122],"accurate":[84],"estimation.":[86],"To":[87],"address":[88],"challenge":[90],"scarcity":[92],"annotation":[95],"in":[96,154],"training,":[97],"use":[101],"statistical":[103],"model":[105],"generate":[107],"dense":[108],"pseudo-ground-truth":[110,165],"without":[111],"need":[113],"LiDAR":[115,133],"clouds,":[117],"makes":[119],"our":[120],"widely":[123],"applicable.":[124],"Experiments":[125],"KITTI":[128],"dataset":[129],"show":[130],"that,":[131],"when":[132],"ground-truth":[134],"not":[136],"used":[137],"at":[138,169],"training":[139],"time,":[140],"outperforms":[143],"previous":[144],"state-of-the-art":[145],"methods":[146],"based":[147],"input":[150],"20":[152],"percent":[153],"terms":[155],"average":[157],"precision":[158],"all":[160],"categories.":[161],"code":[163],"data":[166],"are":[167],"available":[168],"project":[171],"page:":[172],"https://github.com/zju3dv/disprcnn.":[173]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}