{"id":"https://openalex.org/W4400224617","doi":"https://doi.org/10.1145/3651640.3651652","title":"Voxel-to-Pillar: Knowledge Distillation of 3D Object Detection in Point Cloud","display_name":"Voxel-to-Pillar: Knowledge Distillation of 3D Object Detection in Point Cloud","publication_year":2023,"publication_date":"2023-12-01","ids":{"openalex":"https://openalex.org/W4400224617","doi":"https://doi.org/10.1145/3651640.3651652"},"language":"en","primary_location":{"id":"doi:10.1145/3651640.3651652","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3651640.3651652","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3651640.3651652?download=true","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 4th European Symposium on Software Engineering","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3651640.3651652?download=true","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5022474100","display_name":"J. L. Zhang","orcid":"https://orcid.org/0009-0008-1132-1228"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jinbao Zhang","raw_affiliation_strings":["Department of Electronic Engineering and Information Science, University of Science and Technology of China, China"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering and Information Science, University of Science and Technology of China, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100361920","display_name":"Jun Liu","orcid":"https://orcid.org/0000-0002-7193-0622"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Liu","raw_affiliation_strings":["Department of Electronic Engineering and Information Science, University of Science and Technology of China, China"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering and Information Science, University of Science and Technology of China, China","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5022474100"],"corresponding_institution_ids":["https://openalex.org/I126520041"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.20312712,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"99","last_page":"104"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9984999895095825,"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"}},"topics":[{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9984999895095825,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9927999973297119,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/voxel","display_name":"Voxel","score":0.7555862665176392},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7372241020202637},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6698184013366699},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5771607160568237},{"id":"https://openalex.org/keywords/pillar","display_name":"Pillar","score":0.551017701625824},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.5304369926452637},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4402737319469452},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43518316745758057},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4210328757762909},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38558250665664673},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.22687563300132751},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13766032457351685},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10673701763153076},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07499593496322632},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.072573721408844}],"concepts":[{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.7555862665176392},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7372241020202637},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6698184013366699},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5771607160568237},{"id":"https://openalex.org/C105289051","wikidata":"https://www.wikidata.org/wiki/Q1930094","display_name":"Pillar","level":2,"score":0.551017701625824},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.5304369926452637},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4402737319469452},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43518316745758057},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4210328757762909},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38558250665664673},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.22687563300132751},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13766032457351685},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10673701763153076},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07499593496322632},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.072573721408844},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3651640.3651652","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3651640.3651652","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3651640.3651652?download=true","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 4th European Symposium on Software Engineering","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.1145/3651640.3651652","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3651640.3651652","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3651640.3651652?download=true","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 4th European Symposium on Software Engineering","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4400224617.pdf","grobid_xml":"https://content.openalex.org/works/W4400224617.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W1665214252","https://openalex.org/W1836465849","https://openalex.org/W2555618208","https://openalex.org/W2560609797","https://openalex.org/W2560674852","https://openalex.org/W2613718673","https://openalex.org/W2750432752","https://openalex.org/W2897529137","https://openalex.org/W2949708697","https://openalex.org/W2959289524","https://openalex.org/W2963727135","https://openalex.org/W2968296999","https://openalex.org/W3034314779","https://openalex.org/W3035574168","https://openalex.org/W3194287972","https://openalex.org/W4234552385","https://openalex.org/W4312707458","https://openalex.org/W4361193869","https://openalex.org/W4385323544","https://openalex.org/W4390874562","https://openalex.org/W6779712747"],"related_works":["https://openalex.org/W2495348380","https://openalex.org/W604547544","https://openalex.org/W4230293041","https://openalex.org/W2377141674","https://openalex.org/W2352149692","https://openalex.org/W4390351107","https://openalex.org/W3027020613","https://openalex.org/W2016533837","https://openalex.org/W2368266917","https://openalex.org/W2359627721"],"abstract_inverted_index":{"LiDAR":[0],"point":[1],"cloud":[2],"object":[3],"detection":[4,135],"plays":[5],"an":[6],"important":[7],"role":[8],"in":[9,38],"autonomous":[10],"driving.":[11],"However,":[12],"there":[13],"is":[14],"a":[15],"conflict":[16],"between":[17],"high":[18,31],"accuracy":[19],"and":[20,49,118,133],"inference":[21,48],"speed":[22],"which":[23],"hinders":[24],"further":[25],"development.":[26],"Voxel-based":[27],"networks":[28,41,53],"can":[29],"achieve":[30],"accuracy,":[32],"but":[33,59],"the":[34,39,46,88,101,105,119,129,138],"3D":[35],"sparse":[36],"convolution":[37],"voxel-based":[40,66,83],"for":[42],"feature":[43],"extraction":[44],"blocks":[45],"rapid":[47],"model":[50],"deployment.":[51],"Pillar-based":[52],"perform":[54],"well":[55],"on":[56,116],"real-time":[57],"inference,":[58],"they":[60],"are":[61],"not":[62],"as":[63,65],"accurate":[64],"networks.":[67,86],"In":[68],"this":[69],"paper,":[70],"we":[71,94],"propose":[72],"voxel-to-pillar":[73],"knowledge":[74,81],"distillation":[75,97],"(VOP":[76],"KD)":[77],"to":[78,84,99],"transfer":[79],"rich":[80],"from":[82,104],"pillar-based":[85],"With":[87],"help":[89,100],"of":[90,137],"high-confidence":[91],"teacher":[92,106],"predictions,":[93],"calculate":[95],"two":[96],"losses":[98],"student":[102,139],"learn":[103],"without":[107],"introducing":[108],"additional":[109],"cost":[110],"during":[111],"inference.":[112],"We":[113],"conduct":[114],"experiments":[115],"nuScenes":[117,134],"results":[120],"demonstrate":[121],"that":[122],"our":[123],"proposed":[124],"VOP":[125],"KD":[126],"effectively":[127],"improves":[128],"mean":[130],"average":[131],"precision":[132],"score":[136],"detector.":[140]},"counts_by_year":[],"updated_date":"2026-03-12T06:13:28.667946","created_date":"2025-10-10T00:00:00"}