{"id":"https://openalex.org/W4327983902","doi":"https://doi.org/10.3390/s23063229","title":"PTA-Det: Point Transformer Associating Point Cloud and Image for 3D Object Detection","display_name":"PTA-Det: Point Transformer Associating Point Cloud and Image for 3D Object Detection","publication_year":2023,"publication_date":"2023-03-17","ids":{"openalex":"https://openalex.org/W4327983902","doi":"https://doi.org/10.3390/s23063229","pmid":"https://pubmed.ncbi.nlm.nih.gov/36991940"},"language":"en","primary_location":{"id":"doi:10.3390/s23063229","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23063229","pdf_url":"https://www.mdpi.com/1424-8220/23/6/3229/pdf?version=1679306082","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/1424-8220/23/6/3229/pdf?version=1679306082","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5077950332","display_name":"Rui Wan","orcid":"https://orcid.org/0000-0002-8097-5590"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Wan","raw_affiliation_strings":["School of Automation, Northwestern Polytechnical University, Xi\u2019an 710129, China"],"raw_orcid":"https://orcid.org/0000-0002-8097-5590","affiliations":[{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi\u2019an 710129, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073872744","display_name":"Tianyun Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Tianyun Zhao","raw_affiliation_strings":["School of Automation, Northwestern Polytechnical University, Xi\u2019an 710129, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi\u2019an 710129, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075519052","display_name":"Wei Zhao","orcid":"https://orcid.org/0000-0002-3370-6216"},"institutions":[{"id":"https://openalex.org/I37802460","display_name":"Northwest University","ror":"https://ror.org/00z3td547","country_code":"CN","type":"education","lineage":["https://openalex.org/I37802460"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Zhao","raw_affiliation_strings":["Institute of Photonics & Photon Technology, Northwest University, Xi\u2019an 710127, China"],"raw_orcid":"https://orcid.org/0000-0002-3370-6216","affiliations":[{"raw_affiliation_string":"Institute of Photonics & Photon Technology, Northwest University, Xi\u2019an 710127, China","institution_ids":["https://openalex.org/I37802460"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5073872744"],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":1.27,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.78749386,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"23","issue":"6","first_page":"3229","last_page":"3229"},"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/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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9972000122070312,"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/point-cloud","display_name":"Point cloud","score":0.8029133081436157},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7802146673202515},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7208872437477112},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6535739898681641},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6491023898124695},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5673989653587341},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.5379062294960022},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.45119285583496094},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3655509352684021},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3078209161758423},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.17091694474220276}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8029133081436157},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7802146673202515},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7208872437477112},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6535739898681641},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6491023898124695},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5673989653587341},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.5379062294960022},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.45119285583496094},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3655509352684021},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3078209161758423},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.17091694474220276},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s23063229","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23063229","pdf_url":"https://www.mdpi.com/1424-8220/23/6/3229/pdf?version=1679306082","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:36991940","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36991940","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:10052646","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10052646","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10052646/pdf/sensors-23-03229.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:bf820d62324043748654df409e81f7d7","is_oa":true,"landing_page_url":"https://doaj.org/article/bf820d62324043748654df409e81f7d7","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 6, p 3229 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/23/6/3229/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s23063229","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 6; Pages: 3229","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s23063229","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23063229","pdf_url":"https://www.mdpi.com/1424-8220/23/6/3229/pdf?version=1679306082","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":[{"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities","score":0.6800000071525574}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4327983902.pdf"},"referenced_works_count":53,"referenced_works":["https://openalex.org/W2150066425","https://openalex.org/W2163605009","https://openalex.org/W2194775991","https://openalex.org/W2555618208","https://openalex.org/W2601564443","https://openalex.org/W2624503621","https://openalex.org/W2884561390","https://openalex.org/W2897529137","https://openalex.org/W2905528244","https://openalex.org/W2949708697","https://openalex.org/W2951517617","https://openalex.org/W2954174912","https://openalex.org/W2962888833","https://openalex.org/W2963150697","https://openalex.org/W2963400571","https://openalex.org/W2963727135","https://openalex.org/W2964062501","https://openalex.org/W2967324759","https://openalex.org/W2968296999","https://openalex.org/W2969053624","https://openalex.org/W2997790735","https://openalex.org/W2998254148","https://openalex.org/W3004237909","https://openalex.org/W3008105217","https://openalex.org/W3034429258","https://openalex.org/W3035333188","https://openalex.org/W3035461736","https://openalex.org/W3035749845","https://openalex.org/W3099930232","https://openalex.org/W3108426750","https://openalex.org/W3111535274","https://openalex.org/W3136408985","https://openalex.org/W3153465022","https://openalex.org/W3166089996","https://openalex.org/W3166470370","https://openalex.org/W3167095230","https://openalex.org/W3170030651","https://openalex.org/W3173668541","https://openalex.org/W3177276051","https://openalex.org/W3217335336","https://openalex.org/W4200629389","https://openalex.org/W4214755140","https://openalex.org/W4224289557","https://openalex.org/W4281773987","https://openalex.org/W4285606661","https://openalex.org/W4303980413","https://openalex.org/W4310793305","https://openalex.org/W4311728943","https://openalex.org/W4312707458","https://openalex.org/W4312941264","https://openalex.org/W6739901393","https://openalex.org/W6756040250","https://openalex.org/W6772253573"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W1964041166","https://openalex.org/W4390887692","https://openalex.org/W4293094720","https://openalex.org/W2739701376"],"abstract_inverted_index":{"In":[0,75],"autonomous":[1],"driving,":[2],"3D":[3],"object":[4,56],"detection":[5,57,68],"based":[6],"on":[7,173,189],"multi-modal":[8,24,67,89],"data":[9,54],"has":[10],"become":[11],"an":[12,136],"indispensable":[13],"perceptual":[14],"approach":[15],"when":[16],"facing":[17],"complex":[18],"environments":[19],"around":[20],"the":[21,40,44,50,53,86,105,113,127,154,177,190],"vehicle.":[22],"During":[23],"detection,":[25],"LiDAR":[26,45,130,196],"and":[27,35,47,107,132,161,165],"a":[28,59,80,94,120,143,163,182],"camera":[29,48],"are":[30],"simultaneously":[31],"applied":[32],"for":[33,55,168],"capturing":[34],"modeling.":[36],"However,":[37],"due":[38],"to":[39,84],"intrinsic":[41],"discrepancies":[42],"between":[43],"point":[46],"image,":[49],"fusion":[51,160],"of":[52,61,88,110,129,149,157,179,187],"encounters":[58],"series":[60],"problems,":[62],"which":[63,102],"results":[64],"in":[65,112],"most":[66],"methods":[69],"performing":[70],"worse":[71],"than":[72],"LiDAR-only":[73],"methods.":[74],"this":[76],"investigation,":[77],"we":[78],"propose":[79],"method":[81],"named":[82],"PTA-Det":[83],"improve":[85],"performance":[87],"detection.":[90],"Accompanied":[91],"by":[92,115],"PTA-Det,":[93,180],"Pseudo":[95],"Point":[96,122],"Cloud":[97],"Generation":[98],"Network":[99],"is":[100],"proposed,":[101],"can":[103,138,152],"represent":[104],"textural":[106],"semantic":[108],"features":[109,128],"keypoints":[111],"image":[114,137],"pseudo":[116,133],"points.":[117,198],"Thereafter,":[118],"through":[119],"transformer-based":[121],"Fusion":[123],"Transition":[124],"(PFT)":[125],"module,":[126],"points":[131,134],"from":[135],"be":[139],"deeply":[140],"fused":[141],"under":[142],"unified":[144],"point-based":[145],"form.":[146],"The":[147],"combination":[148],"these":[150],"modules":[151],"overcome":[153],"main":[155],"obstacle":[156],"cross-modal":[158],"feature":[159],"achieves":[162],"complementary":[164],"discriminative":[166],"representation":[167],"proposal":[169],"generation.":[170],"Extensive":[171],"experiments":[172],"KITTI":[174],"dataset":[175],"support":[176],"effectiveness":[178],"achieving":[181],"mAP":[183],"(mean":[184],"average":[185],"precision)":[186],"77.88%":[188],"car":[191],"category":[192],"with":[193],"relatively":[194],"few":[195],"input":[197]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}