{"id":"https://openalex.org/W4380763527","doi":"https://doi.org/10.1109/tpami.2023.3286409","title":"Super Sparse 3D Object Detection","display_name":"Super Sparse 3D Object Detection","publication_year":2023,"publication_date":"2023-06-15","ids":{"openalex":"https://openalex.org/W4380763527","doi":"https://doi.org/10.1109/tpami.2023.3286409","pmid":"https://pubmed.ncbi.nlm.nih.gov/37318978"},"language":"en","primary_location":{"id":"doi:10.1109/tpami.2023.3286409","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2023.3286409","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/A5064754069","display_name":"Lue Fan","orcid":"https://orcid.org/0000-0002-2349-0538"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"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":"Lue Fan","raw_affiliation_strings":["Center for Research on Intelligent Perception and Computing (CRIPAC), National Laboratory of Pattern Recognition (NLPR), Institute of Automation, Chinese Academy of Sciences (CASIA), Beijing, China","School of Future Technology, University of Chinese Academy of Sciences (UCAS), Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-2349-0538","affiliations":[{"raw_affiliation_string":"Center for Research on Intelligent Perception and Computing (CRIPAC), National Laboratory of Pattern Recognition (NLPR), Institute of Automation, Chinese Academy of Sciences (CASIA), Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Future Technology, University of Chinese Academy of Sciences (UCAS), Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101830230","display_name":"Yuxue Yang","orcid":"https://orcid.org/0000-0002-0039-4359"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuxue Yang","raw_affiliation_strings":["Center for Research on Intelligent Perception and Computing (CRIPAC), National Laboratory of Pattern Recognition (NLPR), Institute of Automation, Chinese Academy of Sciences (CASIA), Beijing, China","School of Artificial Intelligence, UCAS, China"],"raw_orcid":"https://orcid.org/0000-0002-0039-4359","affiliations":[{"raw_affiliation_string":"Center for Research on Intelligent Perception and Computing (CRIPAC), National Laboratory of Pattern Recognition (NLPR), Institute of Automation, Chinese Academy of Sciences (CASIA), Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Artificial Intelligence, UCAS, China","institution_ids":["https://openalex.org/I4210100255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100615165","display_name":"Wang Feng","orcid":"https://orcid.org/0000-0002-7669-2547"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Feng Wang","raw_affiliation_strings":["Tusimple, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-7669-2547","affiliations":[{"raw_affiliation_string":"Tusimple, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100742122","display_name":"Naiyan Wang","orcid":"https://orcid.org/0000-0002-0526-3331"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Naiyan Wang","raw_affiliation_strings":["Tusimple, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-0526-3331","affiliations":[{"raw_affiliation_string":"Tusimple, Beijing, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028016065","display_name":"Zhaoxiang Zhang","orcid":"https://orcid.org/0000-0003-2648-3875"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaoxiang Zhang","raw_affiliation_strings":["Center for Research on Intelligent Perception and Computing (CRIPAC), National Laboratory of Pattern Recognition (NLPR), Institute of Automation, Chinese Academy of Sciences (CASIA), Beijing, China","Centre for Artificial Intelligence and Robotics, Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences (HKISI_CAS), Hong Kong, China","School of Artificial Intelligence, UCAS, China"],"raw_orcid":"https://orcid.org/0000-0003-2648-3875","affiliations":[{"raw_affiliation_string":"Center for Research on Intelligent Perception and Computing (CRIPAC), National Laboratory of Pattern Recognition (NLPR), Institute of Automation, Chinese Academy of Sciences (CASIA), Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Centre for Artificial Intelligence and Robotics, Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences (HKISI_CAS), Hong Kong, China","institution_ids":[]},{"raw_affiliation_string":"School of Artificial Intelligence, UCAS, China","institution_ids":["https://openalex.org/I4210100255"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5064754069"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150","https://openalex.org/I4210165038"],"apc_list":null,"apc_paid":null,"fwci":4.7099,"has_fulltext":false,"cited_by_count":41,"citation_normalized_percentile":{"value":0.96242594,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"45","issue":"10","first_page":"12490","last_page":"12505"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":1.0,"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":1.0,"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":0.9993000030517578,"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":0.9969000220298767,"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":0.7403439283370972},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6921862363815308},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.6382523775100708},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.5773305892944336},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.5276150703430176},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.5176749229431152},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.46438536047935486},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.46267765760421753},{"id":"https://openalex.org/keywords/neural-coding","display_name":"Neural coding","score":0.44233864545822144},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.4219788610935211},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.41488587856292725},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.13451719284057617}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7403439283370972},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6921862363815308},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.6382523775100708},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.5773305892944336},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.5276150703430176},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.5176749229431152},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46438536047935486},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.46267765760421753},{"id":"https://openalex.org/C77637269","wikidata":"https://www.wikidata.org/wiki/Q7002051","display_name":"Neural coding","level":2,"score":0.44233864545822144},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.4219788610935211},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.41488587856292725},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.13451719284057617},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"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.2023.3286409","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2023.3286409","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:37318978","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37318978","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":[{"id":"https://openalex.org/G3624945331","display_name":null,"funder_award_id":"62006231","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4160143202","display_name":null,"funder_award_id":"61836014","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5353429300","display_name":null,"funder_award_id":"U21B2042","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7317538059","display_name":null,"funder_award_id":"62072457","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":64,"referenced_works":["https://openalex.org/W1585070348","https://openalex.org/W1861492603","https://openalex.org/W1986261983","https://openalex.org/W2150066425","https://openalex.org/W2193145675","https://openalex.org/W2555618208","https://openalex.org/W2558294288","https://openalex.org/W2769312834","https://openalex.org/W2798965597","https://openalex.org/W2897529137","https://openalex.org/W2899663614","https://openalex.org/W2949708697","https://openalex.org/W2963351448","https://openalex.org/W2963727135","https://openalex.org/W2968296999","https://openalex.org/W2979750740","https://openalex.org/W2988715931","https://openalex.org/W3008105217","https://openalex.org/W3034314779","https://openalex.org/W3034602892","https://openalex.org/W3034949383","https://openalex.org/W3035172746","https://openalex.org/W3035346742","https://openalex.org/W3035574168","https://openalex.org/W3036853234","https://openalex.org/W3106250896","https://openalex.org/W3107212734","https://openalex.org/W3113028524","https://openalex.org/W3118341329","https://openalex.org/W3136022415","https://openalex.org/W3159695738","https://openalex.org/W3166089996","https://openalex.org/W3167095230","https://openalex.org/W3167732492","https://openalex.org/W3171377125","https://openalex.org/W3174527233","https://openalex.org/W3175563878","https://openalex.org/W3183881215","https://openalex.org/W3201719054","https://openalex.org/W3206826736","https://openalex.org/W3208394352","https://openalex.org/W4214777292","https://openalex.org/W4225865900","https://openalex.org/W4225986494","https://openalex.org/W4288043173","https://openalex.org/W4310078553","https://openalex.org/W4312307873","https://openalex.org/W4312501532","https://openalex.org/W4312617306","https://openalex.org/W4312908914","https://openalex.org/W4312934050","https://openalex.org/W4313024968","https://openalex.org/W4383066393","https://openalex.org/W4385245566","https://openalex.org/W6620707391","https://openalex.org/W6739778489","https://openalex.org/W6755977528","https://openalex.org/W6760424586","https://openalex.org/W6763422710","https://openalex.org/W6769571200","https://openalex.org/W6778129325","https://openalex.org/W6779564934","https://openalex.org/W6801880476","https://openalex.org/W6840668074"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W4281783339","https://openalex.org/W1964041166","https://openalex.org/W4390887692","https://openalex.org/W4221065211"],"abstract_inverted_index":{"As":[0],"the":[1,14,30,35,44,66,81,95,98,104,107,114,143,160,178,190,207],"perception":[2,16,36,208],"range":[3,209],"of":[4,97,106,116,192],"LiDAR":[5],"expands,":[6],"LiDAR-based":[7],"3D":[8,21],"object":[9,22,58],"detection":[10],"contributes":[11],"ever-increasingly":[12],"to":[13,34,43,124],"long-range":[15,45,50,196],"in":[17,195],"autonomous":[18],"driving.":[19],"Mainstream":[20],"detectors":[23],"often":[24],"build":[25],"dense":[26],"feature":[27,89,100],"maps,":[28],"where":[29,206],"cost":[31],"is":[32,63,186,214],"quadratic":[33],"range,":[37],"making":[38],"them":[39],"hardly":[40],"scale":[41],"up":[42],"settings.":[46],"To":[47,111,188],"enable":[48],"efficient":[49],"detection,":[51,197],"we":[52,120,198],"first":[53,137],"propose":[54,129],"a":[55,72,130,154],"fully":[56,108,117],"sparse":[57,68,74,109,118,132,162],"detector":[59,133],"termed":[60],"FSD.":[61],"FSD":[62],"built":[64],"upon":[65],"general":[67],"voxel":[69],"encoder":[70],"and":[71,85,128,169,183],"novel":[73],"instance":[75],"recognition":[76],"(SIR)":[77],"module.":[78],"SIR":[79],"groups":[80],"points":[82],"into":[83],"instances":[84],"applies":[86],"highly-efficient":[87],"instance-wise":[88,92],"extraction.":[90],"The":[91,149],"grouping":[93],"sidesteps":[94],"issue":[96],"center":[99],"missing,":[101],"which":[102,141],"hinders":[103],"design":[105],"architecture.":[110],"further":[112],"enjoy":[113],"benefit":[115],"characteristic,":[119],"leverage":[121],"temporal":[122],"information":[123],"remove":[125],"data":[126,167],"redundancy":[127,168],"super":[131,161],"named":[134],"FSD++.":[135],"FSD++":[136],"generates":[138],"residual":[139,150],"points,":[140,151,158],"indicate":[142],"point":[144],"changes":[145],"between":[146],"consecutive":[147],"frames.":[148],"along":[152],"with":[153],"few":[155],"previous":[156],"foreground":[157],"form":[159],"input":[163],"data,":[164],"greatly":[165],"reducing":[166],"computational":[170],"overhead.":[171],"We":[172],"comprehensively":[173],"analyze":[174],"our":[175,193],"method":[176,194],"on":[177,202],"large-scale":[179],"Waymo":[180,218],"Open":[181,219],"Dataset,":[182,205],"state-of-the-art":[184],"performance":[185],"reported.":[187],"showcase":[189],"superiority":[191],"also":[199],"conduct":[200],"experiments":[201],"Argoverse":[203],"2":[204],"([Formula:":[210,221],"see":[211,222],"text]":[212,223],"m)":[213],"much":[215],"larger":[216],"than":[217],"Dataset":[220],"m).":[224]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}