{"id":"https://openalex.org/W3133318722","doi":"https://doi.org/10.1109/tro.2021.3122069","title":"EfficientLPS: Efficient LiDAR Panoptic Segmentation","display_name":"EfficientLPS: Efficient LiDAR Panoptic Segmentation","publication_year":2021,"publication_date":"2021-11-17","ids":{"openalex":"https://openalex.org/W3133318722","doi":"https://doi.org/10.1109/tro.2021.3122069","mag":"3133318722"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2021.3122069","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3122069","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2102.08009","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006779567","display_name":"Kshitij Sirohi","orcid":"https://orcid.org/0000-0003-0414-8187"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kshitij Sirohi","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg, Germany"],"raw_orcid":"https://orcid.org/0000-0003-0414-8187","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057076519","display_name":"Rohit Mohan","orcid":"https://orcid.org/0000-0002-5067-4279"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rohit Mohan","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg, Germany"],"raw_orcid":"https://orcid.org/0000-0002-5067-4279","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091413783","display_name":"D. B\u00fcscher","orcid":"https://orcid.org/0000-0001-9321-3029"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Buscher","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg, Germany"],"raw_orcid":"https://orcid.org/0000-0001-9321-3029","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084499878","display_name":"Wolfram Burgard","orcid":"https://orcid.org/0000-0002-5680-6500"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Wolfram Burgard","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg, Germany"],"raw_orcid":"https://orcid.org/0000-0002-5680-6500","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039639553","display_name":"Abhinav Valada","orcid":"https://orcid.org/0000-0003-4710-3114"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Abhinav Valada","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg, Germany"],"raw_orcid":"https://orcid.org/0000-0003-4710-3114","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I161046081"],"apc_list":null,"apc_paid":null,"fwci":1.1746,"has_fulltext":true,"cited_by_count":13,"citation_normalized_percentile":{"value":0.77692901,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"38","issue":"3","first_page":"1894","last_page":"1914"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9984999895095825,"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":0.9984999895095825,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental 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":0.9970999956130981,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.8417727947235107},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7737125158309937},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.7282220125198364},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.644127368927002},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.620384693145752},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5332842469215393},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5231565237045288},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.4438890218734741},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.37762516736984253},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2547879219055176},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.13332027196884155},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.10734960436820984}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8417727947235107},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7737125158309937},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.7282220125198364},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.644127368927002},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.620384693145752},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5332842469215393},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5231565237045288},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.4438890218734741},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.37762516736984253},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2547879219055176},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.13332027196884155},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.10734960436820984}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tro.2021.3122069","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3122069","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2102.08009","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2102.08009","pdf_url":"https://arxiv.org/pdf/2102.08009","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null},{"id":"mag:3133318722","is_oa":true,"landing_page_url":"http://arxiv.org/pdf/2102.08009.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2102.08009","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2102.08009","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2102.08009","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2102.08009","pdf_url":"https://arxiv.org/pdf/2102.08009","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5837592645","display_name":"Open Deep Learning Toolkit for Robotics","funder_award_id":"871449","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G7538605209","display_name":null,"funder_award_id":"871449-OpenDR","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320310414","display_name":"Baden-W\u00fcrttemberg Stiftung","ror":"https://ror.org/031h5fa94"},{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320331837","display_name":"Eva Mayr-Stihl Stiftung","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3133318722.pdf","grobid_xml":"https://content.openalex.org/works/W3133318722.grobid-xml"},"referenced_works_count":56,"referenced_works":["https://openalex.org/W2108598243","https://openalex.org/W2115579991","https://openalex.org/W2211722331","https://openalex.org/W2560609797","https://openalex.org/W2592691248","https://openalex.org/W2601564443","https://openalex.org/W2769312834","https://openalex.org/W2787091153","https://openalex.org/W2795587607","https://openalex.org/W2891778567","https://openalex.org/W2910628332","https://openalex.org/W2955425717","https://openalex.org/W2956887593","https://openalex.org/W2962759414","https://openalex.org/W2962912109","https://openalex.org/W2963125977","https://openalex.org/W2963150697","https://openalex.org/W2963158438","https://openalex.org/W2963182550","https://openalex.org/W2963350373","https://openalex.org/W2963896186","https://openalex.org/W2964269771","https://openalex.org/W2964332807","https://openalex.org/W2968296999","https://openalex.org/W2971230666","https://openalex.org/W2979912832","https://openalex.org/W2981537222","https://openalex.org/W2990613095","https://openalex.org/W2991216808","https://openalex.org/W2999219213","https://openalex.org/W3003437478","https://openalex.org/W3007809903","https://openalex.org/W3010492813","https://openalex.org/W3016965472","https://openalex.org/W3020472769","https://openalex.org/W3034949383","https://openalex.org/W3035057392","https://openalex.org/W3035275207","https://openalex.org/W3035574168","https://openalex.org/W3045034239","https://openalex.org/W3090146708","https://openalex.org/W3091155238","https://openalex.org/W3099155473","https://openalex.org/W3109154950","https://openalex.org/W3119796455","https://openalex.org/W3129377622","https://openalex.org/W3129618687","https://openalex.org/W3133929890","https://openalex.org/W3178218920","https://openalex.org/W6733814495","https://openalex.org/W6754899465","https://openalex.org/W6763229141","https://openalex.org/W6763422710","https://openalex.org/W6775079131","https://openalex.org/W6776047415","https://openalex.org/W6781088886"],"related_works":["https://openalex.org/W3211391682","https://openalex.org/W2991216808","https://openalex.org/W3129377622","https://openalex.org/W3003437478","https://openalex.org/W2990613095","https://openalex.org/W3129618687","https://openalex.org/W2999219213","https://openalex.org/W2968296999","https://openalex.org/W3209934576","https://openalex.org/W3199206228","https://openalex.org/W3197472509","https://openalex.org/W2963350373","https://openalex.org/W3119796455","https://openalex.org/W3206593131","https://openalex.org/W3111606041","https://openalex.org/W3166101916","https://openalex.org/W3174527233","https://openalex.org/W3133929890","https://openalex.org/W3035574168","https://openalex.org/W3043274762"],"abstract_inverted_index":{"Panoptic":[0],"segmentation":[1,68,119],"of":[2,47,92,149],"point":[3,78],"clouds":[4],"is":[5,128],"a":[6,93,140],"crucial":[7],"task":[8],"that":[9,71,97],"enables":[10],"autonomous":[11],"vehicles":[12],"to":[13,144],"comprehend":[14],"their":[15,18],"vicinity":[16],"using":[17],"highly":[19],"accurate":[20],"and":[21,50,87,105,117,175],"reliable":[22],"LiDAR":[23,48,66,77,164],"sensors.":[24],"Existing":[25],"top\u2013down":[26,64],"approaches":[27],"tackle":[28],"this":[29,58],"problem":[30],"by":[31,130,151],"either":[32],"combining":[33],"independent":[34],"task-specific":[35],"networks":[36],"or":[37],"translating":[38],"methods":[39],"from":[40],"the":[41,45,62,123,147,180],"image":[42],"domain":[43],"ignoring":[44],"intricacies":[46],"data":[49],"thus":[51],"often":[52],"resulting":[53],"in":[54,75],"suboptimal":[55],"performance.":[56],"In":[57],"article,":[59],"we":[60,138,169],"present":[61],"novel":[63,94],"efficient":[65],"panoptic":[67,124,133],"(EfficientLPS)":[69],"architecture":[70],"addresses":[72],"multiple":[73],"challenges":[74],"segmenting":[76],"clouds,":[79],"including":[80],"distance-dependent":[81],"sparsity,":[82],"severe":[83],"occlusions,":[84],"large":[85],"scale-variations,":[86],"reprojection":[88],"errors.":[89],"EfficientLPS":[90,150,178],"comprises":[91],"shared":[95],"backbone":[96],"encodes":[98],"with":[99,122],"strengthened":[100],"geometric":[101],"transformation":[102],"modeling":[103],"capacity":[104],"aggregates":[106],"semantically":[107],"rich":[108],"range-aware":[109],"multiscale":[110],"features.":[111],"It":[112],"incorporates":[113],"new":[114,181],"scale-invariant":[115],"semantic":[116],"instance":[118],"heads":[120],"along":[121],"fusion":[125],"module":[126],"which":[127,168],"supervised":[129],"our":[131,158],"proposed":[132,159],"periphery":[134],"loss":[135],"function.":[136],"Additionally,":[137],"formulate":[139],"regularized":[141],"pseudolabeling":[142],"framework":[143],"further":[145],"improve":[146],"performance":[148],"training":[152],"on":[153,161,183],"unlabeled":[154],"data.":[155],"We":[156],"benchmark":[157],"model":[160],"two":[162],"large-scale":[163],"datasets:":[165],"nuScenes,":[166],"for":[167],"also":[170],"provide":[171],"ground":[172],"truth":[173],"annotations,":[174],"SemanticKITTI.":[176],"Notably,":[177],"sets":[179],"state-of-the-art":[182],"both":[184],"these":[185],"datasets.":[186]},"counts_by_year":[{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":5}],"updated_date":"2026-07-20T07:56:41.581041","created_date":"2025-10-10T00:00:00"}
