{"id":"https://openalex.org/W7160539397","doi":"https://doi.org/10.48550/arxiv.2605.05072","title":"Height-Guided Projection Reparameterization for Camera-LiDAR Occupancy","display_name":"Height-Guided Projection Reparameterization for Camera-LiDAR Occupancy","publication_year":2026,"publication_date":"2026-05-06","ids":{"openalex":"https://openalex.org/W7160539397","doi":"https://doi.org/10.48550/arxiv.2605.05072"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.05072","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.05072","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.05072","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5135575783","display_name":"Yuan Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Yuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135633537","display_name":"Zhiqiang Yan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yan, Zhiqiang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008908652","display_name":"Jiawei Lian","orcid":"https://orcid.org/0000-0002-3899-0797"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lian, Jiawei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135604331","display_name":"Zhengxue Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Zhengxue","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5135613511","display_name":"Jian Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Jian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.3869999945163727,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.3869999945163727,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.27720001339912415,"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.1378999948501587,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/projection","display_name":"Projection (relational algebra)","score":0.6381999850273132},{"id":"https://openalex.org/keywords/occupancy","display_name":"Occupancy","score":0.5447999835014343},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5440999865531921},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5242000222206116},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.42750000953674316},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.423799991607666},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.38040000200271606},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.3580000102519989},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.35120001435279846}],"concepts":[{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.6381999850273132},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.600600004196167},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5982000231742859},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5640000104904175},{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.5447999835014343},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5440999865531921},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5242000222206116},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.42750000953674316},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.423799991607666},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3837999999523163},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.38040000200271606},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3652999997138977},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.3580000102519989},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.35120001435279846},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.3391999900341034},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.32899999618530273},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.328900009393692},{"id":"https://openalex.org/C52740198","wikidata":"https://www.wikidata.org/wiki/Q1539564","display_name":"Importance sampling","level":3,"score":0.29789999127388},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.29510000348091125},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.2906000018119812},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.2890999913215637},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.28060001134872437},{"id":"https://openalex.org/C141379421","wikidata":"https://www.wikidata.org/wiki/Q6094427","display_name":"Iterative reconstruction","level":2,"score":0.2797999978065491},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.2793999910354614},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.2678000032901764},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.2533000111579895}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.05072","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.05072","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.05072","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.05072","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.662826418876648,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"3D":[0,40],"occupancy":[1,79],"prediction":[2],"aims":[3],"to":[4,52,63,94,150,158,185],"infer":[5],"dense,":[6],"voxel-wise":[7],"scene":[8],"semantics":[9],"from":[10,182],"sensor":[11],"observations,":[12],"where":[13,39],"the":[14,54,96,100,106,113,120,126,143,147,153,160,179],"2D-to-3D":[15],"view":[16],"transformation":[17],"serves":[18],"as":[19],"a":[20,35,77,90,124,170],"crucial":[21],"step":[22],"in":[23],"bridging":[24],"image":[25],"features":[26],"and":[27,56,66,204],"volumetric":[28],"representations.":[29],"Most":[30],"previous":[31],"methods":[32,197],"rely":[33],"on":[34],"fixed":[36,137],"projection":[37,121],"space,":[38],"reference":[41],"points":[42,128],"are":[43,129],"uniformly":[44],"sampled":[45],"along":[46],"pillars.":[47],"However,":[48],"such":[49],"sampling":[50,107],"struggles":[51],"capture":[53,95],"sparsity":[55],"height":[57,92,98,114,148],"variations":[58],"of":[59,99,109,119,146],"real-world":[60],"scenes,":[61],"leading":[62],"ambiguous":[64],"correspondences":[65],"unreliable":[67],"feature":[68,154],"aggregation.":[69,155],"To":[70],"address":[71],"these":[72],"challenges,":[73],"we":[74,140,168],"propose":[75],"HiPR,":[76],"camera-LiDAR":[78],"framework":[80],"with":[81],"Height-Guided":[82],"Projection":[83],"Reparameterization.":[84],"HiPR":[85,103,192],"first":[86],"encodes":[87],"LiDAR":[88,186],"into":[89,131],"BEV":[91],"map":[93,149],"maximum":[97],"point":[101],"cloud.":[102],"then":[104],"adjusts":[105],"range":[108],"each":[110],"pillar":[111],"using":[112],"prior,":[115],"enabling":[116],"adaptive":[117],"reparameterization":[118],"space.":[122],"As":[123],"result,":[125],"projected":[127],"redistributed":[130],"geometrically":[132],"meaningful":[133],"regions":[134],"rather":[135],"than":[136],"ranges.":[138],"Meanwhile,":[139],"mask":[141],"out":[142],"invalid":[144],"parts":[145],"avoid":[151],"misleading":[152],"In":[156],"addition,":[157],"alleviate":[159],"training":[161],"instability":[162],"caused":[163],"by":[164],"noisy":[165],"LiDAR-derived":[166],"heights,":[167],"introduce":[169],"training-time":[171],"Progressive":[172],"Height":[173],"Conditioning":[174],"strategy,":[175],"which":[176],"gradually":[177],"transitions":[178],"conditioning":[180],"signal":[181],"ground-truth":[183],"heights":[184],"heights.":[187],"Extensive":[188],"experiments":[189],"demonstrate":[190],"that":[191],"consistently":[193],"outperforms":[194],"existing":[195],"state-of-the-art":[196],"while":[198],"maintaining":[199],"real-time":[200],"inference.":[201],"The":[202],"code":[203],"pretrained":[205],"models":[206],"can":[207],"be":[208],"found":[209],"at":[210],"https://github.com/yanzq95/HiPR.":[211]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-08T00:00:00"}