{"id":"https://openalex.org/W4383112857","doi":"https://doi.org/10.1109/tvt.2023.3291650","title":"3D Harmonic Loss: Towards Task-Consistent and Time-Friendly 3D Object Detection on Edge for V2X Orchestration","display_name":"3D Harmonic Loss: Towards Task-Consistent and Time-Friendly 3D Object Detection on Edge for V2X Orchestration","publication_year":2023,"publication_date":"2023-07-04","ids":{"openalex":"https://openalex.org/W4383112857","doi":"https://doi.org/10.1109/tvt.2023.3291650"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2023.3291650","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2023.3291650","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://rgu-repository.worktribe.com/output/2002537","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101967050","display_name":"Haolin Zhang","orcid":"https://orcid.org/0000-0002-8549-1974"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haolin Zhang","raw_affiliation_strings":["National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, National Engineering Research Center for Visual Information and Applications, Institute of Artificial Intelligence and Robotics, Xi&#x0027;an Jiaotong University, Shaanxi, China"],"raw_orcid":"https://orcid.org/0000-0002-8549-1974","affiliations":[{"raw_affiliation_string":"National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, National Engineering Research Center for Visual Information and Applications, Institute of Artificial Intelligence and Robotics, Xi&#x0027;an Jiaotong University, Shaanxi, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044133799","display_name":"M. S. Mekala","orcid":"https://orcid.org/0000-0002-1313-285X"},"institutions":[{"id":"https://openalex.org/I522815984","display_name":"Robert Gordon University","ror":"https://ror.org/04f0qj703","country_code":"GB","type":"education","lineage":["https://openalex.org/I522815984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"M. S. Mekala","raw_affiliation_strings":["School of Computing, Robert Gordon University, Aberdeen, Scotland","School of Computing, Robert Gordon University, Garthdee Road, Aberdeen, Scotland, U.K"],"raw_orcid":"https://orcid.org/0000-0002-1313-285X","affiliations":[{"raw_affiliation_string":"School of Computing, Robert Gordon University, Aberdeen, Scotland","institution_ids":["https://openalex.org/I522815984"]},{"raw_affiliation_string":"School of Computing, Robert Gordon University, Garthdee Road, Aberdeen, Scotland, U.K","institution_ids":["https://openalex.org/I522815984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067003176","display_name":"Dongfang Yang","orcid":"https://orcid.org/0000-0001-9212-6804"},"institutions":[{"id":"https://openalex.org/I4210131649","display_name":"China Automotive Engineering Research Institute","ror":"https://ror.org/039jhgf83","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210131649"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongfang Yang","raw_affiliation_strings":["Chongqing Chang&#x0027;an Automobile Co., Ltd., Chongqing, China"],"raw_orcid":"https://orcid.org/0000-0001-9212-6804","affiliations":[{"raw_affiliation_string":"Chongqing Chang&#x0027;an Automobile Co., Ltd., Chongqing, China","institution_ids":["https://openalex.org/I4210131649"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078597532","display_name":"John P. Isaacs","orcid":"https://orcid.org/0000-0002-5340-5605"},"institutions":[{"id":"https://openalex.org/I522815984","display_name":"Robert Gordon University","ror":"https://ror.org/04f0qj703","country_code":"GB","type":"education","lineage":["https://openalex.org/I522815984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"John Isaacs","raw_affiliation_strings":["School of Computing, Robert Gordon University, Aberdeen, Scotland","School of Computing, Robert Gordon University, Garthdee Road, Aberdeen, Scotland, U.K"],"raw_orcid":"https://orcid.org/0000-0002-5340-5605","affiliations":[{"raw_affiliation_string":"School of Computing, Robert Gordon University, Aberdeen, Scotland","institution_ids":["https://openalex.org/I522815984"]},{"raw_affiliation_string":"School of Computing, Robert Gordon University, Garthdee Road, Aberdeen, Scotland, U.K","institution_ids":["https://openalex.org/I522815984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009256881","display_name":"Zulqar Nain","orcid":"https://orcid.org/0000-0001-8915-8987"},"institutions":[{"id":"https://openalex.org/I85389745","display_name":"Woosong University","ror":"https://ror.org/02srty072","country_code":"KR","type":"education","lineage":["https://openalex.org/I85389745"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Zulkar Nain","raw_affiliation_strings":["Department of Artificial Intelligence and Big Data, Woosong University, Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-8915-8987","affiliations":[{"raw_affiliation_string":"Department of Artificial Intelligence and Big Data, Woosong University, Daejeon, South Korea","institution_ids":["https://openalex.org/I85389745"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029473053","display_name":"Ju H. Park","orcid":"https://orcid.org/0000-0002-0218-2333"},"institutions":[{"id":"https://openalex.org/I55240360","display_name":"Yeungnam University","ror":"https://ror.org/05yc6p159","country_code":"KR","type":"education","lineage":["https://openalex.org/I55240360"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ju H. Park","raw_affiliation_strings":["Department of Electrical Engineering, Yeungnam University, Gyeongsan, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-0218-2333","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Yeungnam University, Gyeongsan, South Korea","institution_ids":["https://openalex.org/I55240360"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003401649","display_name":"Ho-Youl Jung","orcid":"https://orcid.org/0000-0002-1719-7853"},"institutions":[{"id":"https://openalex.org/I55240360","display_name":"Yeungnam University","ror":"https://ror.org/05yc6p159","country_code":"KR","type":"education","lineage":["https://openalex.org/I55240360"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ho-Youl Jung","raw_affiliation_strings":["Department of Information and Communication Engineering, Yeungnam University, Gyeongsan, South Korea","RLRC for Autonomous Vehicle Parts and Materials Innovation, Yeungnam University, Gyeongsan, Korea; department of Information and Communication Engineering, Yeungnam University, Gyeongsan, Korea"],"raw_orcid":"https://orcid.org/0000-0002-1719-7853","affiliations":[{"raw_affiliation_string":"Department of Information and Communication Engineering, Yeungnam University, Gyeongsan, South Korea","institution_ids":["https://openalex.org/I55240360"]},{"raw_affiliation_string":"RLRC for Autonomous Vehicle Parts and Materials Innovation, Yeungnam University, Gyeongsan, Korea; department of Information and Communication Engineering, Yeungnam University, Gyeongsan, Korea","institution_ids":["https://openalex.org/I55240360"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7445,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.72530519,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"72","issue":"12","first_page":"15268","last_page":"15279"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9986000061035156,"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":0.9986000061035156,"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/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.991100013256073,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T11606","display_name":"Infrastructure Maintenance and Monitoring","score":0.984000027179718,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/orchestration","display_name":"Orchestration","score":0.8876186609268188},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6983479261398315},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.5937252044677734},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5642457604408264},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5576850771903992},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5153304934501648},{"id":"https://openalex.org/keywords/harmonic","display_name":"Harmonic","score":0.49410393834114075},{"id":"https://openalex.org/keywords/electronic-engineering","display_name":"Electronic engineering","score":0.4091043770313263},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3491514325141907},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.304352343082428},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28765153884887695},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.22461256384849548},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18417540192604065},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.16839516162872314},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.15929532051086426}],"concepts":[{"id":"https://openalex.org/C199168358","wikidata":"https://www.wikidata.org/wiki/Q3367000","display_name":"Orchestration","level":3,"score":0.8876186609268188},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6983479261398315},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.5937252044677734},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5642457604408264},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5576850771903992},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5153304934501648},{"id":"https://openalex.org/C127934551","wikidata":"https://www.wikidata.org/wiki/Q1148098","display_name":"Harmonic","level":2,"score":0.49410393834114075},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.4091043770313263},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3491514325141907},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.304352343082428},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28765153884887695},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.22461256384849548},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18417540192604065},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.16839516162872314},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.15929532051086426},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C558565934","wikidata":"https://www.wikidata.org/wiki/Q2743","display_name":"Musical","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tvt.2023.3291650","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2023.3291650","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","raw_type":"journal-article"},{"id":"pmh:oai:rgu-repository.worktribe.com:2002537","is_oa":true,"landing_page_url":"https://rgu-repository.worktribe.com/output/2002537","pdf_url":null,"source":{"id":"https://openalex.org/S4306400814","display_name":"Open Access Institutional Repository at Robert Gordon University (Robert Gordon University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I522815984","host_organization_name":"Robert Gordon University","host_organization_lineage":["https://openalex.org/I522815984"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"}],"best_oa_location":{"id":"pmh:oai:rgu-repository.worktribe.com:2002537","is_oa":true,"landing_page_url":"https://rgu-repository.worktribe.com/output/2002537","pdf_url":null,"source":{"id":"https://openalex.org/S4306400814","display_name":"Open Access Institutional Repository at Robert Gordon University (Robert Gordon University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I522815984","host_organization_name":"Robert Gordon University","host_organization_lineage":["https://openalex.org/I522815984"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"},"sustainable_development_goals":[{"score":0.5299999713897705,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[{"id":"https://openalex.org/G3268721071","display_name":null,"funder_award_id":"2019R1A5A8080290","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"}],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W2150066425","https://openalex.org/W2156016055","https://openalex.org/W2798965597","https://openalex.org/W2872491670","https://openalex.org/W2897529137","https://openalex.org/W2949708697","https://openalex.org/W2963351448","https://openalex.org/W2963727135","https://openalex.org/W2964062501","https://openalex.org/W2968296999","https://openalex.org/W2997814983","https://openalex.org/W2998254148","https://openalex.org/W3003618643","https://openalex.org/W3008105217","https://openalex.org/W3034314779","https://openalex.org/W3034681945","https://openalex.org/W3035346742","https://openalex.org/W3035461736","https://openalex.org/W3108849448","https://openalex.org/W3113028524","https://openalex.org/W3118341329","https://openalex.org/W3130463448","https://openalex.org/W3159695738","https://openalex.org/W3166089996","https://openalex.org/W3167095230","https://openalex.org/W3176187859","https://openalex.org/W3196024568","https://openalex.org/W3207950313","https://openalex.org/W3209359843","https://openalex.org/W3209768400","https://openalex.org/W3210543564","https://openalex.org/W4214777292","https://openalex.org/W4214936898","https://openalex.org/W4312294656","https://openalex.org/W4312437143","https://openalex.org/W4312546175","https://openalex.org/W4312939270","https://openalex.org/W6763422710","https://openalex.org/W6779586474"],"related_works":["https://openalex.org/W79913212","https://openalex.org/W2094884983","https://openalex.org/W2378898096","https://openalex.org/W560952460","https://openalex.org/W2290927522","https://openalex.org/W4283579741","https://openalex.org/W3066706303","https://openalex.org/W876159576","https://openalex.org/W2943612818","https://openalex.org/W4292830139"],"abstract_inverted_index":{"The":[0,29,83],"use":[1],"of":[2,60,67,112,142,167,192,200],"edge":[3,209],"computing":[4],"for":[5],"3D":[6,48,61],"perception":[7],"has":[8,41,55,70,116],"garnered":[9],"interest":[10],"in":[11,36,87,128,139,214],"intelligent":[12],"transportation":[13],"systems":[14],"(ITS)":[15],"due":[16],"to":[17,20,31,43,74,119,152],"its":[18,100,205],"potential":[19],"enhance":[21],"Vehicle-to-Everything":[22],"(V2X)":[23],"orchestration":[24],"through":[25,204],"real-time":[26,77],"traffic":[27],"monitoring.":[28],"ability":[30],"accurately":[32],"measure":[33],"depth":[34],"information":[35],"the":[37,58,64,76,88,113,140,154,165,178,190,198],"environment":[38],"using":[39,80],"LiDAR":[40],"led":[42],"a":[44,94,137,143,215],"growing":[45],"emphasis":[46],"on":[47,51,124,158,207],"detection":[49,85],"based":[50,157],"this":[52,133],"technology,":[53],"which":[54,103,115,150],"significantly":[56,188],"advanced":[57],"field":[59],"perception.":[62],"However,":[63],"computationally-intensive":[65],"nature":[66],"these":[68],"operations":[69],"made":[71],"it":[72],"challenging":[73],"meet":[75],"deployment":[78,206],"requirements":[79],"existing":[81],"methods.":[82],"object":[84],"task":[86],"pointcloud":[89,159],"domain":[90],"is":[91],"hindered":[92],"by":[93,99,121],"substantial":[95],"inconsistency":[96,126],"problem":[97],"caused":[98],"high":[101],"sparsity,":[102],"remains":[104],"unaddressed.":[105],"This":[106],"article":[107],"conducts":[108],"an":[109,208],"in-depth":[110],"analysis":[111],"issue,":[114],"been":[117],"brought":[118],"light":[120],"recent":[122],"research":[123],"detecting":[125],"problems":[127],"image":[129],"specialization.":[130],"To":[131],"address":[132],"problem,":[134],"we":[135,163,196],"propose":[136],"solution":[138],"form":[141],"<italic":[144,169],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[145,170],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">3D":[146,171],"harmonic":[147,172],"loss</i>":[148,173],"function,":[149],"aims":[151],"alleviate":[153],"inconsistent":[155],"predictions":[156],"data.":[160],"In":[161],"addition,":[162],"showcase":[164],"viability":[166],"optimizing":[168],"mathematically.":[174],"Our":[175],"simulations":[176],"employ":[177],"KITTI":[179],"dataset":[180],"and":[181,184],"DAIR-V2X-I":[182],"dataset,":[183],"our":[185,201],"proposed":[186,202],"approach":[187],"surpasses":[189],"performance":[191],"benchmark":[193],"models.":[194],"Additionally,":[195],"validate":[197],"efficiency":[199],"model":[203],"device":[210],"(Jetson":[211],"Xavier":[212],"TX)":[213],"simulated":[216],"environment.":[217]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}