{"id":"https://openalex.org/W7170914281","doi":"https://doi.org/10.48550/arxiv.2607.20947","title":"RECO: Region-Aware Compensation for Extrinsic Perturbations in Roadside 3D Detection","display_name":"RECO: Region-Aware Compensation for Extrinsic Perturbations in Roadside 3D Detection","publication_year":2026,"publication_date":"2026-07-23","ids":{"openalex":"https://openalex.org/W7170914281","doi":"https://doi.org/10.48550/arxiv.2607.20947"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2607.20947","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.20947","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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.2607.20947","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5143563523","display_name":"Junsheng Du","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Du, Junsheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045070671","display_name":"Zhaocheng He","orcid":"https://orcid.org/0000-0002-9398-2327"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"He, Zhaocheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5085698173","display_name":"Ye Lu","orcid":"https://orcid.org/0000-0002-2376-4519"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lu, Yuhuan","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/T10036","display_name":"Advanced Neural Network Applications","score":0.6431000232696533,"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":0.6431000232696533,"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":0.19419999420642853,"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":0.061500001698732376,"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/object-detection","display_name":"Object detection","score":0.5266000032424927},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5160999894142151},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.4894999861717224},{"id":"https://openalex.org/keywords/transient","display_name":"Transient (computer programming)","score":0.47279998660087585},{"id":"https://openalex.org/keywords/jitter","display_name":"Jitter","score":0.46860000491142273},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.447299987077713},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.4343999922275543},{"id":"https://openalex.org/keywords/reprojection-error","display_name":"Reprojection error","score":0.428600013256073},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41440001130104065},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4113999903202057}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6215999722480774},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5895000100135803},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5266000032424927},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5234000086784363},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5160999894142151},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.4894999861717224},{"id":"https://openalex.org/C2780799671","wikidata":"https://www.wikidata.org/wiki/Q17087362","display_name":"Transient (computer programming)","level":2,"score":0.47279998660087585},{"id":"https://openalex.org/C134652429","wikidata":"https://www.wikidata.org/wiki/Q1052698","display_name":"Jitter","level":2,"score":0.46860000491142273},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.447299987077713},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.4343999922275543},{"id":"https://openalex.org/C23903533","wikidata":"https://www.wikidata.org/wiki/Q17122739","display_name":"Reprojection error","level":3,"score":0.428600013256073},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41440001130104065},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4113999903202057},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.4066999852657318},{"id":"https://openalex.org/C81388566","wikidata":"https://www.wikidata.org/wiki/Q526668","display_name":"Sigmoid function","level":3,"score":0.38119998574256897},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.38089999556541443},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.35339999198913574},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.35010001063346863},{"id":"https://openalex.org/C21200559","wikidata":"https://www.wikidata.org/wiki/Q7451068","display_name":"Sensitivity (control systems)","level":2,"score":0.34850001335144043},{"id":"https://openalex.org/C47796450","wikidata":"https://www.wikidata.org/wiki/Q508378","display_name":"Intelligent transportation system","level":2,"score":0.32510000467300415},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.31360000371932983},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.31299999356269836},{"id":"https://openalex.org/C34146451","wikidata":"https://www.wikidata.org/wiki/Q5048094","display_name":"Cascade","level":2,"score":0.30790001153945923},{"id":"https://openalex.org/C176777502","wikidata":"https://www.wikidata.org/wiki/Q4774623","display_name":"Anticipation (artificial intelligence)","level":2,"score":0.3059999942779541},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.29440000653266907},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.29170000553131104},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.29030001163482666},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.2849000096321106},{"id":"https://openalex.org/C108598597","wikidata":"https://www.wikidata.org/wiki/Q124255","display_name":"Conic section","level":2,"score":0.26579999923706055},{"id":"https://openalex.org/C177918212","wikidata":"https://www.wikidata.org/wiki/Q803623","display_name":"Perturbation (astronomy)","level":2,"score":0.2621999979019165},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.25360000133514404},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.25110000371932983}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2607.20947","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.20947","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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.2607.20947","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.20947","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":0.41476956009864807,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"In":[0],"intelligent":[1],"transportation":[2],"systems,":[3],"roadside":[4],"3D":[5,138],"object":[6],"detection":[7,150],"provides":[8],"wide-area":[9],"perception":[10],"crucial":[11],"for":[12],"traffic":[13],"understanding,":[14],"cooperative":[15],"early":[16],"warning,":[17],"and":[18,57,92,115,157,172],"safe":[19],"autonomous":[20],"driving.":[21],"However,":[22],"existing":[23],"methods":[24],"suffer":[25],"from":[26,137,178],"high":[27],"sensitivity":[28],"to":[29,86,110,181],"camera":[30],"extrinsics;":[31],"even":[32],"slight":[33],"deviations":[34],"(whether":[35],"manifesting":[36],"as":[37],"transient":[38,179],"jitter":[39],"or":[40],"persistent":[41,182],"drift)":[42],"can":[43],"be":[44],"significantly":[45],"amplified":[46],"by":[47],"projective":[48],"geometry.":[49],"This":[50],"cascade":[51],"results":[52],"in":[53],"severe":[54],"feature":[55],"misalignment":[56],"degraded":[58],"localization.":[59],"To":[60,119],"mitigate":[61],"this":[62],"limitation,":[63],"we":[64,125],"propose":[65],"RECO,":[66],"a":[67,82],"region-aware":[68],"extrinsic":[69,161],"compensation":[70],"framework":[71],"that":[72,131],"corrects":[73],"extrinsics":[74],"using":[75],"piecewise":[76],"6-DoF":[77],"pose":[78,97],"offsets.":[79],"RECO":[80,175],"predicts":[81],"learnable":[83],"range":[84],"boundary":[85],"partition":[87],"the":[88,106,121,148,155],"scene":[89],"into":[90],"near":[91],"far":[93],"regions,":[94],"estimating":[95],"region-specific":[96],"corrections.":[98],"A":[99],"differentiable":[100],"sigmoid":[101],"gate":[102],"then":[103],"smoothly":[104],"blends":[105],"two":[107],"compensated":[108],"geometries":[109],"preserve":[111],"continuous":[112],"BEV":[113],"sampling":[114],"facilitate":[116],"stable":[117],"optimization.":[118],"supervise":[120],"refinement":[122],"of":[123],"extrinsics,":[124],"introduce":[126],"an":[127],"auxiliary":[128],"reprojection":[129],"loss":[130],"compares":[132],"2D":[133,142],"bounding":[134],"boxes":[135],"projected":[136],"ground":[139],"truth":[140],"against":[141],"annotations,":[143],"optimizing":[144],"it":[145],"jointly":[146],"with":[147],"standard":[149],"objective.":[151],"Extensive":[152],"experiments":[153],"on":[154],"DAIR-V2X-I":[156],"Rope3D":[158],"benchmarks":[159],"under":[160,188],"perturbations":[162,180],"demonstrate":[163],"consistent":[164],"improvements":[165],"over":[166],"state-of-the-art":[167],"baselines":[168],"across":[169],"both":[170],"yaw":[171],"$z$-axis":[173],"deviations.":[174],"also":[176],"generalizes":[177],"shifts,":[183],"maintaining":[184],"highly":[185],"competitive":[186],"performance":[187],"strict":[189],"calibration":[190],"uncertainty.":[191]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-25T00:00:00"}
