{"id":"https://openalex.org/W4313584421","doi":"https://doi.org/10.3390/s23010547","title":"Real-Time LiDAR Point-Cloud Moving Object Segmentation for Autonomous Driving","display_name":"Real-Time LiDAR Point-Cloud Moving Object Segmentation for Autonomous Driving","publication_year":2023,"publication_date":"2023-01-03","ids":{"openalex":"https://openalex.org/W4313584421","doi":"https://doi.org/10.3390/s23010547","pmid":"https://pubmed.ncbi.nlm.nih.gov/36617142"},"language":"en","primary_location":{"id":"doi:10.3390/s23010547","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23010547","pdf_url":"https://www.mdpi.com/1424-8220/23/1/547/pdf?version=1672740931","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/1424-8220/23/1/547/pdf?version=1672740931","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5044651577","display_name":"Xing Xie","orcid":"https://orcid.org/0000-0002-8608-8482"},"institutions":[{"id":"https://openalex.org/I199305430","display_name":"Nantong University","ror":"https://ror.org/02afcvw97","country_code":"CN","type":"education","lineage":["https://openalex.org/I199305430"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xing Xie","raw_affiliation_strings":["School of Information Science and Technology, Nantong University, Nantong 226019, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Nantong University, Nantong 226019, China","institution_ids":["https://openalex.org/I199305430"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029313996","display_name":"Haowen Wei","orcid":"https://orcid.org/0000-0003-1856-5627"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Haowen Wei","raw_affiliation_strings":["Department of Computer Science, Columbia University, New York, NY 10027, USA"],"raw_orcid":"https://orcid.org/0000-0003-1856-5627","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Columbia University, New York, NY 10027, USA","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091899681","display_name":"Yongjie Yang","orcid":"https://orcid.org/0000-0001-5604-5505"},"institutions":[{"id":"https://openalex.org/I199305430","display_name":"Nantong University","ror":"https://ror.org/02afcvw97","country_code":"CN","type":"education","lineage":["https://openalex.org/I199305430"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yongjie Yang","raw_affiliation_strings":["School of Information Science and Technology, Nantong University, Nantong 226019, China"],"raw_orcid":"https://orcid.org/0000-0001-5604-5505","affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Nantong University, Nantong 226019, China","institution_ids":["https://openalex.org/I199305430"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5091899681"],"corresponding_institution_ids":["https://openalex.org/I199305430"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":2.4322,"has_fulltext":true,"cited_by_count":21,"citation_normalized_percentile":{"value":0.90687124,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"23","issue":"1","first_page":"547","last_page":"547"},"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994000196456909,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987999796867371,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7715361714363098},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7474053502082825},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7421852946281433},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.6588864326477051},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6463800072669983},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6359677314758301},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.6115108728408813},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5694643259048462},{"id":"https://openalex.org/keywords/frame-rate","display_name":"Frame rate","score":0.5559136867523193},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.48987454175949097},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.47833916544914246},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4604339003562927},{"id":"https://openalex.org/keywords/field-programmable-gate-array","display_name":"Field-programmable gate array","score":0.45863449573516846},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4165903329849243},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.41293978691101074},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.19704368710517883},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.16832783818244934},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11514288187026978},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08234679698944092}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7715361714363098},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7474053502082825},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7421852946281433},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.6588864326477051},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6463800072669983},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6359677314758301},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.6115108728408813},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5694643259048462},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.5559136867523193},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.48987454175949097},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.47833916544914246},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4604339003562927},{"id":"https://openalex.org/C42935608","wikidata":"https://www.wikidata.org/wiki/Q190411","display_name":"Field-programmable gate array","level":2,"score":0.45863449573516846},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4165903329849243},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.41293978691101074},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.19704368710517883},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.16832783818244934},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11514288187026978},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08234679698944092},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s23010547","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23010547","pdf_url":"https://www.mdpi.com/1424-8220/23/1/547/pdf?version=1672740931","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:36617142","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36617142","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:pubmedcentral.nih.gov:9824061","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9824061","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC9824061/pdf/sensors-23-00547.pdf","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"},{"id":"pmh:oai:doaj.org/article:bd31288f99bb492fac68625d7dd2d48d","is_oa":true,"landing_page_url":"https://doaj.org/article/bd31288f99bb492fac68625d7dd2d48d","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 23, Iss 1, p 547 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/23/1/547/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s23010547","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 23; Issue 1; Pages: 547","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s23010547","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23010547","pdf_url":"https://www.mdpi.com/1424-8220/23/1/547/pdf?version=1672740931","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":[{"display_name":"Sustainable cities and communities","score":0.6600000262260437,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4313584421.pdf"},"referenced_works_count":46,"referenced_works":["https://openalex.org/W1901129140","https://openalex.org/W2024958805","https://openalex.org/W2031489346","https://openalex.org/W2073510583","https://openalex.org/W2150066425","https://openalex.org/W2194775991","https://openalex.org/W2395611524","https://openalex.org/W2769571673","https://openalex.org/W2885089463","https://openalex.org/W2886934227","https://openalex.org/W2896992394","https://openalex.org/W2950642167","https://openalex.org/W2953205834","https://openalex.org/W2962771259","https://openalex.org/W2963140246","https://openalex.org/W2963157317","https://openalex.org/W2963170338","https://openalex.org/W2963589995","https://openalex.org/W2968557240","https://openalex.org/W2990613095","https://openalex.org/W2991216808","https://openalex.org/W3003437478","https://openalex.org/W3034486798","https://openalex.org/W3034731255","https://openalex.org/W3035275207","https://openalex.org/W3093434340","https://openalex.org/W3093449168","https://openalex.org/W3105556985","https://openalex.org/W3108704700","https://openalex.org/W3109154950","https://openalex.org/W3109944402","https://openalex.org/W3114961520","https://openalex.org/W3129177437","https://openalex.org/W3135934332","https://openalex.org/W3161855852","https://openalex.org/W4200539392","https://openalex.org/W4213002936","https://openalex.org/W4250908627","https://openalex.org/W4285165925","https://openalex.org/W4285199148","https://openalex.org/W4285290430","https://openalex.org/W4312418574","https://openalex.org/W4312497258","https://openalex.org/W6640054144","https://openalex.org/W6792152673","https://openalex.org/W6803376173"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4281783339","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W4310880131"],"abstract_inverted_index":{"The":[0],"key":[1],"to":[2,11,21,64],"autonomous":[3,166],"navigation":[4],"in":[5,17],"unmanned":[6],"systems":[7],"is":[8,62,94,110],"the":[9,18,23,27,31,39,98,107,124,129,134,143,162],"ability":[10],"recognize":[12],"static":[13],"and":[14,20,35,56,115,142,147],"moving":[15,44],"objects":[16],"environment":[19],"support":[22],"task":[24],"of":[25,30,121,151,158,165],"predicting":[26],"future":[28],"state":[29],"environment,":[32],"avoiding":[33],"collisions,":[34],"planning.":[36],"However,":[37],"because":[38],"existing":[40],"3D":[41],"LiDAR":[42,83,152],"point-cloud":[43,84],"object":[45],"segmentation":[46,150],"(MOS)":[47],"convolutional":[48],"neural":[49],"network":[50,79],"(CNN)":[51],"models":[52],"are":[53],"very":[54],"complex":[55],"have":[57],"large":[58],"computation":[59],"burden,":[60],"it":[61,116],"difficult":[63],"perform":[65],"real-time":[66,163],"processing":[67,108],"on":[68,82,103,123],"embedded":[69],"platforms.":[70],"In":[71,127],"this":[72],"paper,":[73],"we":[74],"propose":[75],"a":[76,156],"lightweight":[77],"MOS":[78],"structure":[80],"based":[81],"sequence":[85],"range":[86],"images":[87],"with":[88],"only":[89],"2.3":[90],"M":[91],"parameters,":[92],"which":[93],"66%":[95],"less":[96],"than":[97],"state-of-the-art":[99],"network.":[100],"When":[101],"running":[102],"RTX":[104],"3090":[105],"GPU,":[106],"time":[109],"35.82":[111],"ms":[112],"per":[113],"frame":[114],"achieves":[117,145],"an":[118,138],"intersection-over-union(IoU)":[119],"score":[120],"51.3%":[122],"SemanticKITTI":[125],"dataset.":[126],"addition,":[128],"proposed":[130],"CNN":[131],"successfully":[132],"runs":[133],"FPGA":[135],"platform":[136],"using":[137],"NVDLA-like":[139],"hardware":[140],"architecture,":[141],"system":[144],"efficient":[146],"accurate":[148],"moving-object":[149],"point":[153],"clouds":[154],"at":[155],"speed":[157],"32":[159],"fps,":[160],"meeting":[161],"requirements":[164],"vehicles.":[167]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
