{"id":"https://openalex.org/W4321600123","doi":"https://doi.org/10.3390/rs15051210","title":"Keypoint3D: Keypoint-Based and Anchor-Free 3D Object Detection for Autonomous Driving with Monocular Vision","display_name":"Keypoint3D: Keypoint-Based and Anchor-Free 3D Object Detection for Autonomous Driving with Monocular Vision","publication_year":2023,"publication_date":"2023-02-22","ids":{"openalex":"https://openalex.org/W4321600123","doi":"https://doi.org/10.3390/rs15051210"},"language":"en","primary_location":{"id":"doi:10.3390/rs15051210","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs15051210","pdf_url":"https://www.mdpi.com/2072-4292/15/5/1210/pdf?version=1677485946","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2072-4292/15/5/1210/pdf?version=1677485946","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5083297385","display_name":"Zhen Li","orcid":null},"institutions":[{"id":"https://openalex.org/I207014233","display_name":"Kyushu Institute of Technology","ror":"https://ror.org/02278tr80","country_code":"JP","type":"education","lineage":["https://openalex.org/I207014233"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Zhen Li","raw_affiliation_strings":["Graduate School of Engineering, Kyushu Institute of Technology, Kitakyushu 804-0015, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Kyushu Institute of Technology, Kitakyushu 804-0015, Japan","institution_ids":["https://openalex.org/I207014233"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073623692","display_name":"Yuliang Gao","orcid":"https://orcid.org/0009-0003-9477-1550"},"institutions":[{"id":"https://openalex.org/I207014233","display_name":"Kyushu Institute of Technology","ror":"https://ror.org/02278tr80","country_code":"JP","type":"education","lineage":["https://openalex.org/I207014233"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuliang Gao","raw_affiliation_strings":["Graduate School of Engineering, Kyushu Institute of Technology, Kitakyushu 804-0015, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Kyushu Institute of Technology, Kitakyushu 804-0015, Japan","institution_ids":["https://openalex.org/I207014233"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112428693","display_name":"Qingqing Hong","orcid":null},"institutions":[{"id":"https://openalex.org/I78978612","display_name":"Yangzhou University","ror":"https://ror.org/03tqb8s11","country_code":"CN","type":"education","lineage":["https://openalex.org/I78978612"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingqing Hong","raw_affiliation_strings":["College of Artificial Intelligence, Yangzhou University, Yangzhou 225012, China"],"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Yangzhou University, Yangzhou 225012, China","institution_ids":["https://openalex.org/I78978612"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113816632","display_name":"Yuren Du","orcid":null},"institutions":[{"id":"https://openalex.org/I78978612","display_name":"Yangzhou University","ror":"https://ror.org/03tqb8s11","country_code":"CN","type":"education","lineage":["https://openalex.org/I78978612"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuren Du","raw_affiliation_strings":["College of Artificial Intelligence, Yangzhou University, Yangzhou 225012, China"],"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Yangzhou University, Yangzhou 225012, China","institution_ids":["https://openalex.org/I78978612"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114048070","display_name":"Seiichi Serikawa","orcid":null},"institutions":[{"id":"https://openalex.org/I207014233","display_name":"Kyushu Institute of Technology","ror":"https://ror.org/02278tr80","country_code":"JP","type":"education","lineage":["https://openalex.org/I207014233"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Seiichi Serikawa","raw_affiliation_strings":["Graduate School of Engineering, Kyushu Institute of Technology, Kitakyushu 804-0015, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Kyushu Institute of Technology, Kitakyushu 804-0015, Japan","institution_ids":["https://openalex.org/I207014233"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100334330","display_name":"Lifeng Zhang","orcid":"https://orcid.org/0000-0001-7528-8051"},"institutions":[{"id":"https://openalex.org/I207014233","display_name":"Kyushu Institute of Technology","ror":"https://ror.org/02278tr80","country_code":"JP","type":"education","lineage":["https://openalex.org/I207014233"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Lifeng Zhang","raw_affiliation_strings":["Graduate School of Engineering, Kyushu Institute of Technology, Kitakyushu 804-0015, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Kyushu Institute of Technology, Kitakyushu 804-0015, Japan","institution_ids":["https://openalex.org/I207014233"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100334330"],"corresponding_institution_ids":["https://openalex.org/I207014233"],"apc_list":{"value":2500,"currency":"CHF","value_usd":2707},"apc_paid":{"value":2500,"currency":"CHF","value_usd":2707},"fwci":1.7987,"has_fulltext":true,"cited_by_count":15,"citation_normalized_percentile":{"value":0.86947498,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"15","issue":"5","first_page":"1210","last_page":"1210"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9998999834060669,"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":0.9998999834060669,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9984999895095825,"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"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9976999759674072,"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":0.7297044992446899},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7211101055145264},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.711566150188446},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.6266975402832031},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.5698428153991699},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5563494563102722},{"id":"https://openalex.org/keywords/ellipse","display_name":"Ellipse","score":0.5141008496284485},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15286695957183838}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7297044992446899},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7211101055145264},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.711566150188446},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6266975402832031},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.5698428153991699},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5563494563102722},{"id":"https://openalex.org/C74261601","wikidata":"https://www.wikidata.org/wiki/Q40112","display_name":"Ellipse","level":2,"score":0.5141008496284485},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15286695957183838},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/rs15051210","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs15051210","pdf_url":"https://www.mdpi.com/2072-4292/15/5/1210/pdf?version=1677485946","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},{"id":"pmh:oai:irdb.nii.ac.jp:01216:0007240872","is_oa":true,"landing_page_url":"https://kyutech.repo.nii.ac.jp/records/2002202","pdf_url":null,"source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal article"},{"id":"pmh:oai:doaj.org/article:64398472d48c40a0bdb6900535169268","is_oa":true,"landing_page_url":"https://doaj.org/article/64398472d48c40a0bdb6900535169268","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Remote Sensing, Vol 15, Iss 5, p 1210 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2072-4292/15/5/1210/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/rs15051210","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"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":"Remote Sensing","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/rs15051210","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs15051210","pdf_url":"https://www.mdpi.com/2072-4292/15/5/1210/pdf?version=1677485946","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5699999928474426,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4321600123.pdf"},"referenced_works_count":56,"referenced_works":["https://openalex.org/W1536680647","https://openalex.org/W1861492603","https://openalex.org/W1977556410","https://openalex.org/W2048294994","https://openalex.org/W2102605133","https://openalex.org/W2150066425","https://openalex.org/W2193145675","https://openalex.org/W2555618208","https://openalex.org/W2560544142","https://openalex.org/W2570343428","https://openalex.org/W2605189827","https://openalex.org/W2613718673","https://openalex.org/W2768265037","https://openalex.org/W2793066252","https://openalex.org/W2798462325","https://openalex.org/W2911486422","https://openalex.org/W2949708697","https://openalex.org/W2950642167","https://openalex.org/W2960641820","https://openalex.org/W2963323244","https://openalex.org/W2963351448","https://openalex.org/W2963400571","https://openalex.org/W2963809933","https://openalex.org/W2964062501","https://openalex.org/W2967740791","https://openalex.org/W2968296999","https://openalex.org/W2997958396","https://openalex.org/W3004237909","https://openalex.org/W3012573144","https://openalex.org/W3021297918","https://openalex.org/W3034407526","https://openalex.org/W3035172746","https://openalex.org/W3035461736","https://openalex.org/W3035574168","https://openalex.org/W3035651586","https://openalex.org/W3035749845","https://openalex.org/W3036022788","https://openalex.org/W3093945404","https://openalex.org/W3106250896","https://openalex.org/W3114509423","https://openalex.org/W3130463448","https://openalex.org/W3137375489","https://openalex.org/W3152771138","https://openalex.org/W3153687269","https://openalex.org/W3176287975","https://openalex.org/W4200279861","https://openalex.org/W4290375100","https://openalex.org/W4313576866","https://openalex.org/W4313584827","https://openalex.org/W4315567872","https://openalex.org/W4315795975","https://openalex.org/W4316466474","https://openalex.org/W6644682428","https://openalex.org/W6687483927","https://openalex.org/W6765771010","https://openalex.org/W6793908954"],"related_works":["https://openalex.org/W3213997683","https://openalex.org/W2995270189","https://openalex.org/W2064811002","https://openalex.org/W2084124712","https://openalex.org/W2350093529","https://openalex.org/W2435467664","https://openalex.org/W4381188157","https://openalex.org/W2011626633","https://openalex.org/W2037866696","https://openalex.org/W4251947321"],"abstract_inverted_index":{"Autonomous":[0],"driving":[1,15,28,58],"has":[2],"received":[3],"enormous":[4],"attention":[5],"from":[6,99],"the":[7,24,145,155,174,186],"academic":[8],"and":[9,26,50,72,83,136],"industrial":[10],"communities.":[11],"However,":[12],"achieving":[13],"full":[14],"autonomy":[16],"is":[17,32],"not":[18],"a":[19,33,45,63,116,138,159,165,178],"trivial":[20],"task,":[21],"because":[22],"of":[23,60,133,194],"complex":[25],"dynamic":[27],"environment.":[29],"Perception":[30],"ability":[31],"tough":[34],"challenge":[35],"for":[36,47,70,106,110,177],"autonomous":[37,74],"driving,":[38],"while":[39],"3D":[40,52,85,100,200],"object":[41,86,107],"detection":[42],"serves":[43],"as":[44,104],"breakthrough":[46],"providing":[48],"precise":[49,111],"dependable":[51],"geometric":[53,102],"information.":[54],"Inspired":[55],"by":[56],"practical":[57],"experiences":[59],"human":[61],"experts,":[62],"pure":[64],"visual":[65],"scheme":[66],"takes":[67],"sufficient":[68],"responsibility":[69],"safe":[71],"stable":[73],"driving.":[75],"In":[76],"this":[77],"paper,":[78],"we":[79,114],"proposed":[80,137],"an":[81,191],"anchor-free":[82],"keypoint-based":[84],"detector":[87],"with":[88,190],"monocular":[89],"vision,":[90],"named":[91],"Keypoint3D.":[92],"We":[93,129],"creatively":[94],"leveraged":[95],"2D":[96],"projected":[97],"points":[98],"objects\u2019":[101,127],"centers":[103],"keypoints":[105,112],"modeling.":[108],"Additionally,":[109],"positioning,":[113],"utilized":[115],"novel":[117],"self-adapting":[118],"ellipse":[119],"Gaussian":[120],"filter":[121],"(saEGF)":[122],"on":[123,173,199],"heatmaps,":[124],"considering":[125],"different":[126,131],"shapes.":[128],"tried":[130],"variations":[132],"DLA-34":[134,140],"backbone":[135],"semi-aggregation":[139],"(SADLA-34)":[141],"network,":[142],"which":[143,162],"pruned":[144],"redundant":[146],"aggregation":[147],"branch":[148],"but":[149],"achieved":[150,185],"better":[151],"performance.":[152],"Keypoint3D":[153,184],"regressed":[154],"yaw":[156],"angle":[157],"in":[158,164],"Euclidean":[160],"space,":[161],"resulted":[163],"closed":[166],"mathematical":[167],"space":[168],"avoiding":[169],"singularities.":[170],"Numerous":[171],"experiments":[172],"KITTI":[175],"dataset":[176],"moderate":[179],"level":[180],"have":[181],"proven":[182],"that":[183],"best":[187],"speed-accuracy":[188],"trade-off":[189],"average":[192],"precision":[193],"39.1%":[195],"at":[196],"18.9":[197],"FPS":[198],"cars":[201],"detection.":[202]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
