{"id":"https://openalex.org/W4389300440","doi":"https://doi.org/10.3390/rs15235612","title":"DVST: Deformable Voxel Set Transformer for 3D Object Detection from Point Clouds","display_name":"DVST: Deformable Voxel Set Transformer for 3D Object Detection from Point Clouds","publication_year":2023,"publication_date":"2023-12-03","ids":{"openalex":"https://openalex.org/W4389300440","doi":"https://doi.org/10.3390/rs15235612"},"language":"en","primary_location":{"id":"doi:10.3390/rs15235612","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs15235612","pdf_url":"https://www.mdpi.com/2072-4292/15/23/5612/pdf?version=1701664777","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/2072-4292/15/23/5612/pdf?version=1701664777","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5064618700","display_name":"Yaqian Ning","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaqian Ning","raw_affiliation_strings":["School of Optics and Photonics, Beijing Institute of Technology, Beijing 100081, China"],"affiliations":[{"raw_affiliation_string":"School of Optics and Photonics, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058372289","display_name":"Jie Cao","orcid":"https://orcid.org/0000-0001-8376-7669"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jie Cao","raw_affiliation_strings":["School of Optics and Photonics, Beijing Institute of Technology, Beijing 100081, China","Yangtze Delta Region Academy, Beijing Institute of Technology, Jiaxing 314003, China"],"affiliations":[{"raw_affiliation_string":"School of Optics and Photonics, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Yangtze Delta Region Academy, Beijing Institute of Technology, Jiaxing 314003, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046077837","display_name":"Chun Bao","orcid":"https://orcid.org/0000-0002-5177-6808"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chun Bao","raw_affiliation_strings":["School of Optics and Photonics, Beijing Institute of Technology, Beijing 100081, China"],"affiliations":[{"raw_affiliation_string":"School of Optics and Photonics, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049976796","display_name":"Qun Hao","orcid":"https://orcid.org/0000-0002-9819-731X"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I106645853","display_name":"Changchun University of Science and Technology","ror":"https://ror.org/007mntk44","country_code":"CN","type":"education","lineage":["https://openalex.org/I106645853"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qun Hao","raw_affiliation_strings":["School of Optics and Photonics, Beijing Institute of Technology, Beijing 100081, China","School of Opto-Electronic Engineering, Changchun University of Science and Technology, Changchun 130022, China","Yangtze Delta Region Academy, Beijing Institute of Technology, Jiaxing 314003, China"],"affiliations":[{"raw_affiliation_string":"School of Optics and Photonics, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Opto-Electronic Engineering, Changchun University of Science and Technology, Changchun 130022, China","institution_ids":["https://openalex.org/I106645853"]},{"raw_affiliation_string":"Yangtze Delta Region Academy, Beijing Institute of Technology, Jiaxing 314003, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5058372289"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":{"value":2500,"currency":"CHF","value_usd":2707},"apc_paid":{"value":2500,"currency":"CHF","value_usd":2707},"fwci":0.9672,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.78287762,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"15","issue":"23","first_page":"5612","last_page":"5612"},"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":0.9993000030517578,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.996999979019165,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8108270168304443},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6812840104103088},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6681513786315918},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.5902100801467896},{"id":"https://openalex.org/keywords/voxel","display_name":"Voxel","score":0.5887662768363953},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.5752902626991272},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5098249316215515},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.44915053248405457},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4186978340148926},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.17779481410980225}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8108270168304443},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6812840104103088},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6681513786315918},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.5902100801467896},{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.5887662768363953},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.5752902626991272},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5098249316215515},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.44915053248405457},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4186978340148926},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.17779481410980225},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/rs15235612","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs15235612","pdf_url":"https://www.mdpi.com/2072-4292/15/23/5612/pdf?version=1701664777","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:doaj.org/article:5b8a55b0a45a4489bab56e9ed40a203c","is_oa":true,"landing_page_url":"https://doaj.org/article/5b8a55b0a45a4489bab56e9ed40a203c","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 23, p 5612 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/rs15235612","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs15235612","pdf_url":"https://www.mdpi.com/2072-4292/15/23/5612/pdf?version=1701664777","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4389300440.pdf"},"referenced_works_count":50,"referenced_works":["https://openalex.org/W2150066425","https://openalex.org/W2601564443","https://openalex.org/W2624503621","https://openalex.org/W2884561390","https://openalex.org/W2897529137","https://openalex.org/W2949708697","https://openalex.org/W2950642167","https://openalex.org/W2951594382","https://openalex.org/W2968296999","https://openalex.org/W2981949127","https://openalex.org/W2997814983","https://openalex.org/W3008105217","https://openalex.org/W3034314779","https://openalex.org/W3034602892","https://openalex.org/W3034681945","https://openalex.org/W3035172746","https://openalex.org/W3035346742","https://openalex.org/W3092462694","https://openalex.org/W3108426750","https://openalex.org/W3118341329","https://openalex.org/W3159695738","https://openalex.org/W3166089996","https://openalex.org/W3166470370","https://openalex.org/W3167095230","https://openalex.org/W3175262579","https://openalex.org/W3177276051","https://openalex.org/W3195311297","https://openalex.org/W3205005447","https://openalex.org/W3209035582","https://openalex.org/W4214536678","https://openalex.org/W4214777292","https://openalex.org/W4220729567","https://openalex.org/W4294344554","https://openalex.org/W4308080803","https://openalex.org/W4308211562","https://openalex.org/W4309407869","https://openalex.org/W4312501532","https://openalex.org/W4312546175","https://openalex.org/W4312802610","https://openalex.org/W4312916565","https://openalex.org/W4312934050","https://openalex.org/W4312953085","https://openalex.org/W4312960790","https://openalex.org/W4378085463","https://openalex.org/W4380551670","https://openalex.org/W4382240183","https://openalex.org/W4386076222","https://openalex.org/W4386076493","https://openalex.org/W6772253573","https://openalex.org/W6800678216"],"related_works":["https://openalex.org/W3027020613","https://openalex.org/W2016533837","https://openalex.org/W3167885074","https://openalex.org/W2892386716","https://openalex.org/W4306164210","https://openalex.org/W1998563493","https://openalex.org/W4313316311","https://openalex.org/W4362608745","https://openalex.org/W2082728368","https://openalex.org/W2383143032"],"abstract_inverted_index":{"The":[0,19,75,175],"use":[1],"of":[2,23,85,95,115,131,159,185],"a":[3,48,61,136,194],"transformer":[4,25,65],"backbone":[5,26,67],"in":[6,34,152],"LiDAR":[7],"point-cloud-based":[8],"models":[9],"for":[10,68],"3D":[11,69],"object":[12,70],"detection":[13,71],"has":[14],"recently":[15],"gained":[16],"significant":[17],"interest.":[18],"larger":[20],"receptive":[21,83],"field":[22,84],"the":[24,81,86,90,96,101,129,132,157,160,163,179,182,186],"improves":[27],"its":[28],"representation":[29],"capability":[30,94],"but":[31],"also":[32],"results":[33],"excessive":[35],"attention":[36,107],"being":[37],"given":[38],"to":[39,59,78,108,118,127,147,197],"background":[40],"regions.":[41,120],"To":[42],"solve":[43],"this":[44],"problem,":[45],"we":[46,57,99],"propose":[47],"novel":[49],"approach":[50],"called":[51],"deformable":[52,62,87,102],"voxel":[53,63],"set":[54,64,106],"attention,":[55],"which":[56],"utilized":[58],"create":[60],"(DVST)":[66],"from":[72],"point":[73],"clouds.":[74],"DVST":[76,161,180],"aims":[77],"efficaciously":[79],"integrate":[80],"flexible":[82],"mechanism":[88,103],"and":[89,113,165,172],"powerful":[91],"context":[92],"modeling":[93],"transformer.":[97],"Specifically,":[98],"introduce":[100],"into":[104],"voxel-based":[105],"selectively":[109],"transfer":[110],"candidate":[111],"keys":[112],"values":[114],"foreground":[116,133],"queries":[117],"important":[119],"An":[121],"offset":[122],"generation":[123],"module":[124],"was":[125],"designed":[126],"learn":[128],"offsets":[130],"queries.":[134],"Furthermore,":[135],"globally":[137],"responsive":[138],"convolutional":[139],"feed-forward":[140],"network":[141],"with":[142],"residual":[143],"connection":[144],"is":[145],"presented":[146],"capture":[148],"global":[149],"feature":[150],"interactions":[151],"hidden":[153],"space.":[154],"We":[155],"verified":[156],"validity":[158],"on":[162],"KITTI":[164],"Waymo":[166],"open":[167],"datasets":[168],"by":[169],"constructing":[170],"single-stage":[171],"two-stage":[173],"models.":[174],"findings":[176],"indicated":[177],"that":[178],"enhanced":[181],"average":[183],"precision":[184],"baseline":[187],"model":[188],"while":[189],"preserving":[190],"computational":[191],"efficiency,":[192],"achieving":[193],"performance":[195],"comparable":[196],"state-of-the-art":[198],"methods.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3}],"updated_date":"2026-03-26T15:22:09.906841","created_date":"2025-10-10T00:00:00"}