{"id":"https://openalex.org/W4200132059","doi":"https://doi.org/10.1109/vtc2021-fall52928.2021.9625507","title":"Quantitative Comparison of LiDAR Point Cloud Segmentation for Autonomous Vehicles","display_name":"Quantitative Comparison of LiDAR Point Cloud Segmentation for Autonomous Vehicles","publication_year":2021,"publication_date":"2021-09-01","ids":{"openalex":"https://openalex.org/W4200132059","doi":"https://doi.org/10.1109/vtc2021-fall52928.2021.9625507"},"language":"en","primary_location":{"id":"doi:10.1109/vtc2021-fall52928.2021.9625507","is_oa":false,"landing_page_url":"https://doi.org/10.1109/vtc2021-fall52928.2021.9625507","pdf_url":null,"source":{"id":"https://openalex.org/S4363607774","display_name":"2021 IEEE 94th Vehicular Technology Conference (VTC2021-Fall)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 94th Vehicular Technology Conference (VTC2021-Fall)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"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/A5003822824","display_name":"Bhaskar Anand","orcid":"https://orcid.org/0000-0002-2035-9446"},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Bhaskar Anand","raw_affiliation_strings":["Indian Institute of Technology Hyderabad,Department of Electrical Engineering,Hyderabad,India","Indian Institute of Technology Hyderabad, Hyderabad, India"],"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology Hyderabad,Department of Electrical Engineering,Hyderabad,India","institution_ids":["https://openalex.org/I65181880"]},{"raw_affiliation_string":"Indian Institute of Technology Hyderabad, Hyderabad, India","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057374572","display_name":"Vivek Barsaiyan","orcid":"https://orcid.org/0000-0002-5678-6714"},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Vivek Barsaiyan","raw_affiliation_strings":["Indian Institute of Technology Hyderabad,Department of Electrical Engineering,Hyderabad,India","Indian Institute of Technology Hyderabad, Hyderabad, India"],"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology Hyderabad,Department of Electrical Engineering,Hyderabad,India","institution_ids":["https://openalex.org/I65181880"]},{"raw_affiliation_string":"Indian Institute of Technology Hyderabad, Hyderabad, India","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070923484","display_name":"Mrinal Senapati","orcid":"https://orcid.org/0000-0002-6272-4501"},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Mrinal Senapati","raw_affiliation_strings":["Indian Institute of Technology Hyderabad,Department of Electrical Engineering,Hyderabad,India","Indian Institute of Technology Hyderabad, Hyderabad, India"],"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology Hyderabad,Department of Electrical Engineering,Hyderabad,India","institution_ids":["https://openalex.org/I65181880"]},{"raw_affiliation_string":"Indian Institute of Technology Hyderabad, Hyderabad, India","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069669674","display_name":"P. Rajalakshmi","orcid":"https://orcid.org/0000-0002-7252-6728"},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"P. Rajalakshmi","raw_affiliation_strings":["Indian Institute of Technology Hyderabad,Department of Electrical Engineering,Hyderabad,India","Indian Institute of Technology Hyderabad, Hyderabad, India"],"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology Hyderabad,Department of Electrical Engineering,Hyderabad,India","institution_ids":["https://openalex.org/I65181880"]},{"raw_affiliation_string":"Indian Institute of Technology Hyderabad, Hyderabad, India","institution_ids":["https://openalex.org/I65181880"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5003822824"],"corresponding_institution_ids":["https://openalex.org/I65181880"],"apc_list":null,"apc_paid":null,"fwci":1.4785,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.86694605,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"4"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9987999796867371,"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":0.9958000183105469,"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":0.923617959022522},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.8588181734085083},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7369071245193481},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6897847652435303},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.684944748878479},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6525484919548035},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.6396123170852661},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.49645739793777466},{"id":"https://openalex.org/keywords/euclidean-distance","display_name":"Euclidean distance","score":0.4617808759212494},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.45948657393455505},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4464419186115265},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1836443841457367},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13923820853233337}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.923617959022522},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8588181734085083},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7369071245193481},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6897847652435303},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.684944748878479},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6525484919548035},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.6396123170852661},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.49645739793777466},{"id":"https://openalex.org/C120174047","wikidata":"https://www.wikidata.org/wiki/Q847073","display_name":"Euclidean distance","level":2,"score":0.4617808759212494},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.45948657393455505},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4464419186115265},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1836443841457367},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13923820853233337},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/vtc2021-fall52928.2021.9625507","is_oa":false,"landing_page_url":"https://doi.org/10.1109/vtc2021-fall52928.2021.9625507","pdf_url":null,"source":{"id":"https://openalex.org/S4363607774","display_name":"2021 IEEE 94th Vehicular Technology Conference (VTC2021-Fall)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 94th Vehicular Technology Conference (VTC2021-Fall)","raw_type":"proceedings-article"},{"id":"pmh:oai:raiith.iith.ac.in:10643","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306400292","display_name":"Research Archive of Indian Institute of Technology Hyderabad (Indian Institute of Technology Hyderabad)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I65181880","host_organization_name":"Indian Institute of Technology Hyderabad","host_organization_lineage":["https://openalex.org/I65181880"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Conference or Workshop Item"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320325255","display_name":"Ministry of Electronics and Information technology","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1996688648","https://openalex.org/W2000836326","https://openalex.org/W2027463251","https://openalex.org/W2074658631","https://openalex.org/W2115519229","https://openalex.org/W2156516396","https://openalex.org/W2460157116","https://openalex.org/W2565029242","https://openalex.org/W2737444374","https://openalex.org/W2772732477","https://openalex.org/W2808430885","https://openalex.org/W2953913750","https://openalex.org/W2963044817","https://openalex.org/W3093767889","https://openalex.org/W3094454102","https://openalex.org/W3095977418","https://openalex.org/W3096163677"],"related_works":["https://openalex.org/W2783354812","https://openalex.org/W4384112194","https://openalex.org/W2103009189","https://openalex.org/W4312958259","https://openalex.org/W4308259661","https://openalex.org/W4390813131","https://openalex.org/W2594043982","https://openalex.org/W3036493597","https://openalex.org/W4293094720","https://openalex.org/W2739701376"],"abstract_inverted_index":{"The":[0],"Light":[1],"detection":[2],"and":[3,28,43,103],"ranging":[4],"(LiDAR)":[5],"sensor":[6],"is":[7,22,77,125],"used":[8],"for":[9,53,73,95],"perceiving":[10],"the":[11,26,37,44,54,58,70,78,81,110,122,131,138,150],"environment":[12],"of":[13,69,80],"an":[14,32],"autonomous":[15,33],"vehicle.":[16,34],"LiDAR":[17,41,62,74],"data":[18,42,45,63,75],"or":[19],"point":[20,96],"cloud":[21,97],"processed":[23],"to":[24,130,136],"get":[25],"obstacles":[27],"their":[29],"speed":[30],"around":[31],"Based":[35,108],"on":[36,109,113],"information":[38],"retrieved":[39],"from":[40,46,149],"other":[47],"sensors,":[48],"real-time":[49],"decisions":[50],"are":[51],"taken":[52,60],"proper":[55,143],"navigation.":[56],"Hence,":[57],"time":[59],"in":[61],"processing":[64,76],"should":[65],"be":[66],"minimized.":[67],"One":[68],"important":[71],"steps":[72],"segmentation":[79,144],"obstacles.":[82],"In":[83,134],"this":[84],"paper,":[85],"we":[86,119],"present":[87],"a":[88,146],"quantitative":[89],"comparison":[90],"between":[91],"two":[92],"different":[93],"approaches":[94],"segmentation,":[98],"Euclidean":[99],"distance-based":[100],"Cluster":[101],"Extraction":[102],"Cylindrical":[104],"range":[105],"image-based":[106],"method.":[107,133],"simulation":[111],"performed":[112],"ROS":[114],"(Robot":[115],"Operating":[116],"System)":[117],"platform,":[118],"found":[120],"that":[121],"second":[123,139],"method":[124,140],"much":[126],"faster":[127],"as":[128],"compared":[129],"first":[132],"addition":[135],"that,":[137],"can":[141],"perform":[142],"at":[145],"larger":[147],"distance":[148],"sensor.":[151]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}