{"id":"https://openalex.org/W4220707308","doi":"https://doi.org/10.3390/s22062366","title":"Spatial Attention Frustum: A 3D Object Detection Method Focusing on Occluded Objects","display_name":"Spatial Attention Frustum: A 3D Object Detection Method Focusing on Occluded Objects","publication_year":2022,"publication_date":"2022-03-18","ids":{"openalex":"https://openalex.org/W4220707308","doi":"https://doi.org/10.3390/s22062366","pmid":"https://pubmed.ncbi.nlm.nih.gov/35336536"},"language":"en","primary_location":{"id":"doi:10.3390/s22062366","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22062366","pdf_url":"https://www.mdpi.com/1424-8220/22/6/2366/pdf?version=1647961813","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/22/6/2366/pdf?version=1647961813","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5040863314","display_name":"Xinglei He","orcid":"https://orcid.org/0000-0002-5190-9877"},"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":"Xinglei He","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001986173","display_name":"Xiaohan Zhang","orcid":"https://orcid.org/0000-0002-3693-8194"},"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":"Xiaohan Zhang","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100726775","display_name":"Yichun Wang","orcid":"https://orcid.org/0000-0002-5281-8766"},"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":"Yichun Wang","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088645465","display_name":"Hongzeng Ji","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":"Hongzeng Ji","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015679766","display_name":"Xiuhui Duan","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":"Xiuhui Duan","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035670786","display_name":"Fen Guo","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":true,"raw_author_name":"Fen Guo","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China"],"raw_orcid":"https://orcid.org/0000-0002-9884-0045","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5035670786"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":0.3048,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.52377217,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"22","issue":"6","first_page":"2366","last_page":"2366"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":1.0,"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":1.0,"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/T11605","display_name":"Visual Attention and Saliency Detection","score":0.9993000030517578,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9940999746322632,"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/frustum","display_name":"Frustum","score":0.8238697052001953},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7537178993225098},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7399839162826538},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6835207939147949},{"id":"https://openalex.org/keywords/minimum-bounding-box","display_name":"Minimum bounding box","score":0.6602354645729065},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6090056300163269},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5934249758720398},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5357446074485779},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.5314437747001648},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5128176808357239},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5071506500244141},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.49624353647232056},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4751562774181366},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.440062940120697},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.2497914731502533},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.23203781247138977},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.12882202863693237},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11711543798446655},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09674212336540222}],"concepts":[{"id":"https://openalex.org/C97402662","wikidata":"https://www.wikidata.org/wiki/Q846235","display_name":"Frustum","level":2,"score":0.8238697052001953},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7537178993225098},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7399839162826538},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6835207939147949},{"id":"https://openalex.org/C147037132","wikidata":"https://www.wikidata.org/wiki/Q6865426","display_name":"Minimum bounding box","level":3,"score":0.6602354645729065},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6090056300163269},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5934249758720398},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5357446074485779},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.5314437747001648},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5128176808357239},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5071506500244141},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.49624353647232056},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4751562774181366},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.440062940120697},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2497914731502533},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.23203781247138977},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.12882202863693237},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11711543798446655},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09674212336540222},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s22062366","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22062366","pdf_url":"https://www.mdpi.com/1424-8220/22/6/2366/pdf?version=1647961813","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:35336536","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/35336536","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:dd130f7dbf4d4fab803db2e136980012","is_oa":true,"landing_page_url":"https://doaj.org/article/dd130f7dbf4d4fab803db2e136980012","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 22, Iss 6, p 2366 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/22/6/2366/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s22062366","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":"Sensors; Volume 22; Issue 6; Pages: 2366","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:8955271","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8955271","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"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":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s22062366","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22062366","pdf_url":"https://www.mdpi.com/1424-8220/22/6/2366/pdf?version=1647961813","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4220707308.pdf","grobid_xml":"https://content.openalex.org/works/W4220707308.grobid-xml"},"referenced_works_count":43,"referenced_works":["https://openalex.org/W2150066425","https://openalex.org/W2300822056","https://openalex.org/W2468368736","https://openalex.org/W2555618208","https://openalex.org/W2773077099","https://openalex.org/W2897529137","https://openalex.org/W2949708697","https://openalex.org/W2950642167","https://openalex.org/W2960641820","https://openalex.org/W2963120444","https://openalex.org/W2963121255","https://openalex.org/W2963351448","https://openalex.org/W2963400571","https://openalex.org/W2963727135","https://openalex.org/W2964062501","https://openalex.org/W2968296999","https://openalex.org/W2979912832","https://openalex.org/W2980547801","https://openalex.org/W2997790735","https://openalex.org/W2998421254","https://openalex.org/W2999049882","https://openalex.org/W3004237909","https://openalex.org/W3008105217","https://openalex.org/W3012494314","https://openalex.org/W3021168583","https://openalex.org/W3023399644","https://openalex.org/W3034236957","https://openalex.org/W3034429258","https://openalex.org/W3035461736","https://openalex.org/W3108884723","https://openalex.org/W3117804044","https://openalex.org/W3118242057","https://openalex.org/W3118250615","https://openalex.org/W3126163744","https://openalex.org/W3139158133","https://openalex.org/W3163535241","https://openalex.org/W3178544809","https://openalex.org/W3180297163","https://openalex.org/W3181563536","https://openalex.org/W4403273243","https://openalex.org/W6739778489","https://openalex.org/W6795578475","https://openalex.org/W6873662944"],"related_works":["https://openalex.org/W4237171675","https://openalex.org/W3036286480","https://openalex.org/W3192357901","https://openalex.org/W2387360586","https://openalex.org/W4287027631","https://openalex.org/W2952736415","https://openalex.org/W3209723314","https://openalex.org/W3205398323","https://openalex.org/W2883297582","https://openalex.org/W4390524233"],"abstract_inverted_index":{"Achieving":[0],"the":[1,38,43,54,59,72,77,88,91,121,168,174,179,184,202,211,222,238,246,257,280,283],"accurate":[2],"perception":[3,44,78],"of":[4,46,53,61,80,90,120,167,205,210,225,245,264,282],"occluded":[5,147,226],"objects":[6,148],"for":[7,130],"autonomous":[8,47,81],"vehicles":[9,48],"is":[10,57,65],"a":[11,151,156,190,251,261],"challenging":[12],"problem.":[13],"Human":[14],"vision":[15],"can":[16,107,219],"always":[17],"quickly":[18],"locate":[19],"important":[20],"object":[21,97,101],"regions":[22,29],"in":[23,58,76,99,237,256],"complex":[24,164],"external":[25],"scenes,":[26],"while":[27],"other":[28],"are":[30],"only":[31,150],"roughly":[32],"analysed":[33],"or":[34],"ignored,":[35],"defined":[36],"as":[37],"visual":[39,73],"attention":[40,74,93,105],"mechanism.":[41],"However,":[42],"system":[45,79],"cannot":[49],"know":[50],"which":[51,197],"part":[52],"point":[55,169],"cloud":[56],"region":[60],"interest.":[62],"Therefore,":[63],"it":[64],"meaningful":[66],"to":[67,70,95,117,161,200,272,279],"explore":[68],"how":[69],"use":[71],"mechanism":[75],"driving.":[82],"In":[83],"this":[84],"paper,":[85],"we":[86,154,172],"propose":[87,155,189],"model":[89],"spatial":[92,104],"frustum":[94,106],"solve":[96],"occlusion":[98],"3D":[100,180],"detection.":[102],"The":[103,208],"suppress":[108],"unimportant":[109],"features":[110,166],"and":[111,127,183,188,233,241,249],"allocate":[112],"limited":[113],"neural":[114],"computing":[115],"resources":[116],"critical":[118],"parts":[119],"scene,":[122],"thereby":[123],"providing":[124],"greater":[125],"relevance":[126],"easier":[128],"processing":[129],"higher-level":[131],"perceptual":[132],"reasoning":[133,142],"tasks.":[134],"To":[135],"ensure":[136],"that":[137,215],"our":[138,206,216],"method":[139,218,229,268],"maintains":[140],"good":[141],"ability":[143],"when":[144],"faced":[145],"with":[146,149,260],"partial":[152],"structure,":[153],"local":[157,165],"feature":[158],"aggregation":[159],"module":[160],"capture":[162],"more":[163],"cloud.":[170],"Finally,":[171],"discuss":[173],"projection":[175,194],"constraint":[176],"relationship":[177],"between":[178],"bounding":[181,186],"box":[182,187,193],"2D":[185],"joint":[191],"anchor":[192],"loss":[195],"function,":[196],"will":[198],"help":[199],"improve":[201,221],"overall":[203],"performance":[204,253],"method.":[207,285],"results":[209],"KITTI":[212],"dataset":[213],"show":[214],"proposed":[217],"effectively":[220],"detection":[223,235],"accuracy":[224,236,281],"objects.":[227],"Our":[228,266],"achieves":[230,250],"89.46%,":[231],"79.91%":[232],"75.53%":[234],"easy,":[239],"moderate,":[240],"hard":[242,258],"difficulty":[243],"levels":[244],"car":[247],"category,":[248],"6.97%":[252],"improvement":[254],"especially":[255],"category":[259],"high":[262],"degree":[263],"occlusion.":[265],"one-stage":[267],"does":[269],"not":[270],"need":[271],"rely":[273],"on":[274],"another":[275],"refining":[276],"stage,":[277],"comparable":[278],"two-stage":[284]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}