{"id":"https://openalex.org/W4321236043","doi":"https://doi.org/10.3390/rs15041093","title":"A Novel Real-Time Edge-Guided LiDAR Semantic Segmentation Network for Unstructured Environments","display_name":"A Novel Real-Time Edge-Guided LiDAR Semantic Segmentation Network for Unstructured Environments","publication_year":2023,"publication_date":"2023-02-16","ids":{"openalex":"https://openalex.org/W4321236043","doi":"https://doi.org/10.3390/rs15041093"},"language":"en","primary_location":{"id":"doi:10.3390/rs15041093","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs15041093","pdf_url":"https://www.mdpi.com/2072-4292/15/4/1093/pdf?version=1677064783","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/2072-4292/15/4/1093/pdf?version=1677064783","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100524834","display_name":"Xiaoqing Yin","orcid":null},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoqing Yin","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China"],"affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100342439","display_name":"Xu Li","orcid":"https://orcid.org/0000-0002-1006-3027"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xu Li","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China"],"affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039079852","display_name":"Peizhou Ni","orcid":"https://orcid.org/0000-0002-1684-9936"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peizhou Ni","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China"],"affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088520478","display_name":"Qimin Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qimin Xu","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China"],"affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057379701","display_name":"Dong Kong","orcid":"https://orcid.org/0000-0002-1864-423X"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dong Kong","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China"],"affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100342439"],"corresponding_institution_ids":["https://openalex.org/I76569877"],"apc_list":{"value":2500,"currency":"CHF","value_usd":2707},"apc_paid":{"value":2500,"currency":"CHF","value_usd":2707},"fwci":1.4588,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.78803248,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"15","issue":"4","first_page":"1093","last_page":"1093"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9980999827384949,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9934999942779541,"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":0.832514762878418},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.8150291442871094},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.6319421529769897},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5929023027420044},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5205588936805725},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.519756019115448},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.4886656105518341},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4499741494655609},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.4239109456539154},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3216208219528198},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.16286131739616394},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.06753292679786682}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.832514762878418},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.8150291442871094},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.6319421529769897},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5929023027420044},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5205588936805725},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.519756019115448},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.4886656105518341},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4499741494655609},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.4239109456539154},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3216208219528198},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.16286131739616394},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.06753292679786682},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/rs15041093","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs15041093","pdf_url":"https://www.mdpi.com/2072-4292/15/4/1093/pdf?version=1677064783","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:7a1fc3ef061a44bba5341baacd882fb3","is_oa":true,"landing_page_url":"https://doaj.org/article/7a1fc3ef061a44bba5341baacd882fb3","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 4, p 1093 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2072-4292/15/4/1093/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/rs15041093","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/rs15041093","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs15041093","pdf_url":"https://www.mdpi.com/2072-4292/15/4/1093/pdf?version=1677064783","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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5600000023841858}],"awards":[{"id":"https://openalex.org/G7294854559","display_name":null,"funder_award_id":"61973079","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4321236043.pdf"},"referenced_works_count":40,"referenced_works":["https://openalex.org/W2154741421","https://openalex.org/W2211722331","https://openalex.org/W2266390837","https://openalex.org/W2412782625","https://openalex.org/W2594519801","https://openalex.org/W2598666589","https://openalex.org/W2624503621","https://openalex.org/W2737777104","https://openalex.org/W2799166040","https://openalex.org/W2938428612","https://openalex.org/W2950642167","https://openalex.org/W2957077982","https://openalex.org/W2962912109","https://openalex.org/W2963727135","https://openalex.org/W2965803762","https://openalex.org/W2968557240","https://openalex.org/W2971265822","https://openalex.org/W2981083640","https://openalex.org/W3003437478","https://openalex.org/W3008115128","https://openalex.org/W3012494314","https://openalex.org/W3035665735","https://openalex.org/W3043740003","https://openalex.org/W3080980548","https://openalex.org/W3093434340","https://openalex.org/W3107518100","https://openalex.org/W3109154950","https://openalex.org/W3128514315","https://openalex.org/W3130367234","https://openalex.org/W3133661165","https://openalex.org/W3174926460","https://openalex.org/W3199526541","https://openalex.org/W3200060357","https://openalex.org/W3206164009","https://openalex.org/W4205860895","https://openalex.org/W4224251198","https://openalex.org/W4293165901","https://openalex.org/W4296106218","https://openalex.org/W4297224465","https://openalex.org/W6718544293"],"related_works":["https://openalex.org/W4312828305","https://openalex.org/W4226195147","https://openalex.org/W2517104666","https://openalex.org/W4310264062","https://openalex.org/W2976989770","https://openalex.org/W2005437358","https://openalex.org/W1669643531","https://openalex.org/W2008656436","https://openalex.org/W3091155238","https://openalex.org/W2954561862"],"abstract_inverted_index":{"LiDAR-based":[0],"semantic":[1,71,90,123,161],"segmentation,":[2],"particularly":[3],"for":[4,17,74],"unstructured":[5,23,75,200,218],"environments,":[6,24],"plays":[7],"a":[8,67,82,145],"crucial":[9],"role":[10],"in":[11,144,198,208,217],"environment":[12],"perception":[13],"and":[14,30,53,109,116,122,140,148,163,169,183,191,213],"driving":[15],"decisions":[16],"unmanned":[18],"ground":[19],"vehicles.":[20],"Unfortunately,":[21],"chaotic":[22],"especially":[25],"the":[26,38,58,78,93,110,117,132,150,157,166,172,177,180,189,195,203],"high-proportion":[27],"drivable":[28,211],"areas":[29,212],"large-area":[31,214],"static":[32,215],"obstacles":[33,216],"therein,":[34],"inevitably":[35],"suffer":[36],"from":[37],"problem":[39],"of":[40,112,171,194,210],"blurred":[41],"class":[42],"edges.":[43],"Existing":[44],"published":[45],"works":[46],"are":[47,126],"prone":[48],"to":[49,99,160],"inaccurate":[50],"edge":[51,94,102,106,114,121,133,138,158],"segmentation":[52,72,95,124,162,167,209],"have":[54],"difficulties":[55],"dealing":[56],"with":[57],"above":[59],"challenge.":[60],"To":[61],"this":[62,64],"end,":[63],"paper":[65],"proposes":[66],"real-time":[68,192],"edge-guided":[69],"LiDAR":[70],"network":[73,197,204],"environments.":[76,201,219],"First,":[77],"main":[79,141],"branch":[80,142],"is":[81,97],"lightweight":[83],"architecture":[84],"that":[85],"extracts":[86],"multi-level":[87],"point":[88],"cloud":[89],"features;":[91],"Second,":[92],"module":[96,136],"designed":[98],"extract":[100],"high-resolution":[101],"features":[103,115,139,143],"using":[104,153],"cascaded":[105],"attention":[107],"blocks,":[108],"accuracy":[111,168],"extracted":[113],"consistency":[118],"between":[119],"predicted":[120],"results":[125,175],"ensured":[127],"by":[128],"additional":[129],"supervision;":[130],"Third,":[131],"guided":[134],"fusion":[135],"fuses":[137],"multi-scale":[146],"manner":[147],"recalibrates":[149],"channel":[151,154],"feature":[152],"attention,":[155],"realizing":[156],"guidance":[159],"further":[164],"improving":[165],"adaptability":[170],"model.":[173],"Experimental":[174],"on":[176,184],"SemanticKITTI":[178],"dataset,":[179,182],"Rellis-3D":[181],"our":[185],"test":[186],"dataset":[187],"demonstrate":[188],"effectiveness":[190],"performance":[193,207],"proposed":[196],"different":[199],"Especially,":[202],"has":[205],"state-of-the-art":[206]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":2}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}