{"id":"https://openalex.org/W4392697953","doi":"https://doi.org/10.3233/jifs-238176","title":"SSF: Sparse point cloud object detection based on self-adaptive voxel encoding and focal-sparse convolution","display_name":"SSF: Sparse point cloud object detection based on self-adaptive voxel encoding and focal-sparse convolution","publication_year":2024,"publication_date":"2024-03-12","ids":{"openalex":"https://openalex.org/W4392697953","doi":"https://doi.org/10.3233/jifs-238176"},"language":"en","primary_location":{"id":"doi:10.3233/jifs-238176","is_oa":false,"landing_page_url":"https://doi.org/10.3233/jifs-238176","pdf_url":null,"source":{"id":"https://openalex.org/S179157397","display_name":"Journal of Intelligent & Fuzzy Systems","issn_l":"1064-1246","issn":["1064-1246","1875-8967"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310318577","host_organization_name":"IOS Press","host_organization_lineage":["https://openalex.org/P4310318577"],"host_organization_lineage_names":["IOS Press"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Fuzzy Systems","raw_type":"journal-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/A5031655296","display_name":"Yu Zhang","orcid":"https://orcid.org/0000-0002-0633-5069"},"institutions":[{"id":"https://openalex.org/I67001856","display_name":"Shanghai Institute of Technology","ror":"https://ror.org/00fjzqj15","country_code":"CN","type":"education","lineage":["https://openalex.org/I67001856"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Zhang","raw_affiliation_strings":["School of Computer Science and Information Engineering, Shanghai Institute of Technology, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Information Engineering, Shanghai Institute of Technology, Shanghai, China","institution_ids":["https://openalex.org/I67001856"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100384120","display_name":"Zilong Wang","orcid":"https://orcid.org/0009-0008-4257-1211"},"institutions":[{"id":"https://openalex.org/I67001856","display_name":"Shanghai Institute of Technology","ror":"https://ror.org/00fjzqj15","country_code":"CN","type":"education","lineage":["https://openalex.org/I67001856"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zilong Wang","raw_affiliation_strings":["School of Computer Science and Information Engineering, Shanghai Institute of Technology, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Information Engineering, Shanghai Institute of Technology, Shanghai, China","institution_ids":["https://openalex.org/I67001856"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027282062","display_name":"Yongjian Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210152380","display_name":"Shenzhen Technology University","ror":"https://ror.org/04qzpec27","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210152380"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yongjian Zhu","raw_affiliation_strings":["College of Engineering Physics, Shenzhen Technology University, Shenzhen, Guangdong Province"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering Physics, Shenzhen Technology University, Shenzhen, Guangdong Province","institution_ids":["https://openalex.org/I4210152380"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100380469","display_name":"Jianxin Li","orcid":"https://orcid.org/0000-0002-4034-0400"},"institutions":[{"id":"https://openalex.org/I67001856","display_name":"Shanghai Institute of Technology","ror":"https://ror.org/00fjzqj15","country_code":"CN","type":"education","lineage":["https://openalex.org/I67001856"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianxin Li","raw_affiliation_strings":["School of Computer Science and Information Engineering, Shanghai Institute of Technology, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Information Engineering, Shanghai Institute of Technology, Shanghai, China","institution_ids":["https://openalex.org/I67001856"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5027282062"],"corresponding_institution_ids":["https://openalex.org/I4210152380"],"apc_list":null,"apc_paid":null,"fwci":0.2044,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.41580388,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"46","issue":"4","first_page":"11041","last_page":"11054"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9994000196456909,"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":0.9994000196456909,"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":0.998199999332428,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9969000220298767,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7761197090148926},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7610909938812256},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6914145350456238},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.658562421798706},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.6385399103164673},{"id":"https://openalex.org/keywords/convolution","display_name":"Convolution (computer science)","score":0.5844383835792542},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5738129615783691},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5180737972259521},{"id":"https://openalex.org/keywords/pooling","display_name":"Pooling","score":0.5000178813934326},{"id":"https://openalex.org/keywords/voxel","display_name":"Voxel","score":0.4789353311061859},{"id":"https://openalex.org/keywords/backbone-network","display_name":"Backbone network","score":0.45917797088623047},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.45898163318634033},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.44797199964523315},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.4457206130027771},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4391518235206604},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.4307183027267456},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.20545977354049683},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.07926586270332336}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7761197090148926},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7610909938812256},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6914145350456238},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.658562421798706},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.6385399103164673},{"id":"https://openalex.org/C45347329","wikidata":"https://www.wikidata.org/wiki/Q5166604","display_name":"Convolution (computer science)","level":3,"score":0.5844383835792542},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5738129615783691},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5180737972259521},{"id":"https://openalex.org/C70437156","wikidata":"https://www.wikidata.org/wiki/Q7228652","display_name":"Pooling","level":2,"score":0.5000178813934326},{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.4789353311061859},{"id":"https://openalex.org/C88796919","wikidata":"https://www.wikidata.org/wiki/Q1142907","display_name":"Backbone network","level":2,"score":0.45917797088623047},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.45898163318634033},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.44797199964523315},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.4457206130027771},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4391518235206604},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.4307183027267456},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.20545977354049683},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.07926586270332336},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.3233/jifs-238176","is_oa":false,"landing_page_url":"https://doi.org/10.3233/jifs-238176","pdf_url":null,"source":{"id":"https://openalex.org/S179157397","display_name":"Journal of Intelligent & Fuzzy Systems","issn_l":"1064-1246","issn":["1064-1246","1875-8967"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310318577","host_organization_name":"IOS Press","host_organization_lineage":["https://openalex.org/P4310318577"],"host_organization_lineage_names":["IOS Press"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Fuzzy Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W2798965597","https://openalex.org/W2897529137","https://openalex.org/W2946180323","https://openalex.org/W2949708697","https://openalex.org/W2963727135","https://openalex.org/W2968296999","https://openalex.org/W3003618643","https://openalex.org/W3033573001","https://openalex.org/W3034314779","https://openalex.org/W3035346742","https://openalex.org/W3039448353","https://openalex.org/W3167095230","https://openalex.org/W3167732492","https://openalex.org/W4205466528","https://openalex.org/W4214777292","https://openalex.org/W4285286995","https://openalex.org/W4310078553","https://openalex.org/W4320802815","https://openalex.org/W4324119358","https://openalex.org/W4367359525","https://openalex.org/W4385831871"],"related_works":["https://openalex.org/W2953234277","https://openalex.org/W2626256601","https://openalex.org/W147410782","https://openalex.org/W2900413183","https://openalex.org/W4390975304","https://openalex.org/W2894651257","https://openalex.org/W3200590620","https://openalex.org/W4200172193","https://openalex.org/W4303926741","https://openalex.org/W3112165785"],"abstract_inverted_index":{"Point":[0],"cloud":[1,25,57,73],"object":[2,26],"detection":[3,121,141,150,160,168],"is":[4],"gradually":[5],"playing":[6],"a":[7,100],"key":[8],"role":[9],"in":[10,23,120,137,149],"autonomous":[11],"driving":[12],"tasks.":[13,122,142],"To":[14],"address":[15],"the":[16,33,41,55,64,76,89,115,126,134],"issue":[17,116],"of":[18,40,66,103,117,165],"insensitivity":[19],"to":[20,32,53,69,87,98,113],"sparse":[21,84],"objects":[22],"point":[24,56,72],"detection,":[27],"we":[28,80,108,144],"have":[29,44,81,109,145],"made":[30],"improvements":[31,132],"voxel":[34,50],"encoding":[35,52],"and":[36,139,154],"3D":[37,77],"backbone":[38,78,90],"network":[39],"PVRCNN++.":[42],"We":[43],"introduced":[45],"adaptive":[46,83],"pooling":[47],"operations":[48,86],"during":[49],"feature":[51],"expand":[54],"information":[58],"within":[59],"each":[60],"voxel,":[61],"followed":[62],"by":[63],"utilization":[65],"multi-layer":[67],"perceptrons":[68],"extract":[70],"richer":[71],"features.":[74],"On":[75],"network,":[79],"employed":[82],"convolution":[85],"make":[88],"network\u2019s":[91],"channel":[92],"count":[93],"more":[94],"flexible,":[95],"allowing":[96],"it":[97],"accommodate":[99],"wider":[101],"range":[102],"input":[104],"data":[105],"types.":[106],"Furthermore,":[107],"integrated":[110],"Focal":[111],"Loss":[112],"tackle":[114],"class":[118],"imbalance":[119],"Experimental":[123],"results":[124],"on":[125],"public":[127],"KITTI":[128],"dataset":[129],"demonstrate":[130],"significant":[131],"over":[133],"PVRCNN++,":[135],"particularly":[136],"pedestrian":[138],"bicycle":[140],"Specifically,":[143],"observed":[146],"1%":[147],"increase":[148],"accuracy":[151],"for":[152,157],"pedestrians":[153],"2.1%":[155],"improvement":[156],"bicycles.":[158],"Our":[159],"performance":[161],"also":[162],"surpasses":[163],"that":[164],"other":[166],"comparative":[167],"algorithms.":[169]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
