{"id":"https://openalex.org/W4416749509","doi":"https://doi.org/10.1109/iros60139.2025.11247001","title":"Multistream Network for LiDAR and Camera-based 3D Object Detection in Outdoor Scenes","display_name":"Multistream Network for LiDAR and Camera-based 3D Object Detection in Outdoor Scenes","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749509","doi":"https://doi.org/10.1109/iros60139.2025.11247001"},"language":"en","primary_location":{"id":"doi:10.1109/iros60139.2025.11247001","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247001","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069966470","display_name":"Muhammad Ibrahim","orcid":"https://orcid.org/0000-0002-1556-8702"},"institutions":[{"id":"https://openalex.org/I177877127","display_name":"The University of Western Australia","ror":"https://ror.org/047272k79","country_code":"AU","type":"education","lineage":["https://openalex.org/I177877127"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Muhammad Ibrahim","raw_affiliation_strings":["The University of Western Australia,Department of Computer Science"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Western Australia,Department of Computer Science","institution_ids":["https://openalex.org/I177877127"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024497090","display_name":"Naveed Akhtar","orcid":"https://orcid.org/0000-0002-3807-7172"},"institutions":[{"id":"https://openalex.org/I165779595","display_name":"The University of Melbourne","ror":"https://ror.org/01ej9dk98","country_code":"AU","type":"education","lineage":["https://openalex.org/I165779595"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Naveed Akhtar","raw_affiliation_strings":["The University of Melbourne,School of Computing &#x0026; Information Systems"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Melbourne,School of Computing &#x0026; Information Systems","institution_ids":["https://openalex.org/I165779595"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057583744","display_name":"Haitian Wang","orcid":"https://orcid.org/0009-0000-7544-4667"},"institutions":[{"id":"https://openalex.org/I177877127","display_name":"The University of Western Australia","ror":"https://ror.org/047272k79","country_code":"AU","type":"education","lineage":["https://openalex.org/I177877127"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Haitian Wang","raw_affiliation_strings":["The University of Western Australia,Department of Computer Science"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Western Australia,Department of Computer Science","institution_ids":["https://openalex.org/I177877127"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084633048","display_name":"Saeed Anwar","orcid":"https://orcid.org/0000-0002-0692-8411"},"institutions":[{"id":"https://openalex.org/I177877127","display_name":"The University of Western Australia","ror":"https://ror.org/047272k79","country_code":"AU","type":"education","lineage":["https://openalex.org/I177877127"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Saeed Anwar","raw_affiliation_strings":["The University of Western Australia,Department of Computer Science"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Western Australia,Department of Computer Science","institution_ids":["https://openalex.org/I177877127"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089986388","display_name":"Ajmal Mian","orcid":"https://orcid.org/0000-0002-5206-3842"},"institutions":[{"id":"https://openalex.org/I177877127","display_name":"The University of Western Australia","ror":"https://ror.org/047272k79","country_code":"AU","type":"education","lineage":["https://openalex.org/I177877127"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Ajmal Mian","raw_affiliation_strings":["The University of Western Australia,Department of Computer Science"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Western Australia,Department of Computer Science","institution_ids":["https://openalex.org/I177877127"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5069966470"],"corresponding_institution_ids":["https://openalex.org/I177877127"],"apc_list":null,"apc_paid":null,"fwci":1.0344,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.83179479,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"7796","last_page":"7803"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9350000023841858,"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":0.9350000023841858,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.013700000010430813,"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/T10273","display_name":"IoT and Edge/Fog Computing","score":0.005400000140070915,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.8646000027656555},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.6809999942779541},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6560999751091003},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5895000100135803},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4799000024795532},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.4413999915122986}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8646000027656555},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7530999779701233},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6917999982833862},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.6809999942779541},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6718999743461609},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6560999751091003},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5895000100135803},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4799000024795532},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.4413999915122986},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.37209999561309814},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.3626999855041504},{"id":"https://openalex.org/C203595873","wikidata":"https://www.wikidata.org/wiki/Q25389927","display_name":"Change detection","level":2,"score":0.32989999651908875},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.2874000072479248},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.27570000290870667},{"id":"https://openalex.org/C2778484313","wikidata":"https://www.wikidata.org/wiki/Q1172540","display_name":"Data stream","level":2,"score":0.25429999828338623},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.25}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros60139.2025.11247001","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247001","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.atira.dk:publications/7bd10e95-eb76-4f22-91cd-3a87b548d4fc","is_oa":false,"landing_page_url":"https://admin.research-repository.uwa.edu.au/en/publications/7bd10e95-eb76-4f22-91cd-3a87b548d4fc","pdf_url":null,"source":{"id":"https://openalex.org/S4306402523","display_name":"UWA Profiles and Research Repository (University of Western Australia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I177877127","host_organization_name":"The University of Western Australia","host_organization_lineage":["https://openalex.org/I177877127"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Ibrahim, M, Akhtar, N, Wang, H, Anwar, S & Mian, A 2025, Multistream Network for LiDAR and Camera-based 3D Object Detection in Outdoor Scenes. in IEEE/RSJ International Conference on Intelligent Robots and Systems Proceedings. IEEE, Institute of Electrical and Electronics Engineers, Canada, pp. 7796-7803, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025, Hangzhou, China, 19/10/25. https://doi.org/10.1109/IROS60139.2025.11247001","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:pure.atira.dk:publications/c6955ddf-5b31-4a5b-9ae9-00f61c60593d","is_oa":false,"landing_page_url":"https://admin.research-repository.uwa.edu.au/en/publications/c6955ddf-5b31-4a5b-9ae9-00f61c60593d","pdf_url":null,"source":{"id":"https://openalex.org/S4306402523","display_name":"UWA Profiles and Research Repository (University of Western Australia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I177877127","host_organization_name":"The University of Western Australia","host_organization_lineage":["https://openalex.org/I177877127"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Ibrahim, M, Akhtar, N, Wang, H, Anwar, S & Mian, A 2025 'Multistream Network for LiDAR and Camera-based 3D Object Detection in Outdoor Scenes.' arXiv. https://doi.org/10.1109/IROS60139.2025.11247001","raw_type":"workingPaper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334704","display_name":"Australian Research Council","ror":"https://ror.org/05mmh0f86"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W2150066425","https://openalex.org/W2555618208","https://openalex.org/W2897529137","https://openalex.org/W2911486422","https://openalex.org/W2951517617","https://openalex.org/W2963400571","https://openalex.org/W2968296999","https://openalex.org/W2998083489","https://openalex.org/W3011914484","https://openalex.org/W3034314779","https://openalex.org/W3035574168","https://openalex.org/W3090896893","https://openalex.org/W3118341329","https://openalex.org/W3130463448","https://openalex.org/W3159695738","https://openalex.org/W3166089996","https://openalex.org/W3172863135","https://openalex.org/W3176888779","https://openalex.org/W3201719054","https://openalex.org/W3205005447","https://openalex.org/W3205067502","https://openalex.org/W3208639274","https://openalex.org/W3216015562","https://openalex.org/W3217335336","https://openalex.org/W4200632008","https://openalex.org/W4214655709","https://openalex.org/W4214777292","https://openalex.org/W4285094936","https://openalex.org/W4287846214","https://openalex.org/W4293811845","https://openalex.org/W4312707458","https://openalex.org/W4312976258","https://openalex.org/W4313149358","https://openalex.org/W4319299723","https://openalex.org/W4382240183","https://openalex.org/W4385151926","https://openalex.org/W4386065523","https://openalex.org/W4386076370","https://openalex.org/W4386083121","https://openalex.org/W4386939374","https://openalex.org/W4387092507","https://openalex.org/W4389776357","https://openalex.org/W4391936192","https://openalex.org/W4401415666","https://openalex.org/W4401417114"],"related_works":[],"abstract_inverted_index":{"Fusion":[0],"of":[1,26,38,170],"LiDAR":[2,27,87,106],"and":[3,28,105,111,122,128,182,208,229],"RGB":[4,29,104],"data":[5,69],"has":[6,31],"the":[7,86,90,116,143,153,196,238],"potential":[8],"to":[9,130],"enhance":[10],"outdoor":[11,21],"3D":[12,22,100,135,173,206],"object":[13,23,43,136],"detection":[14,44,132,207],"accuracy.":[15],"To":[16,52],"address":[17,53],"real-world":[18],"challenges":[19],"in":[20,172,176,184,205,211,217],"detection,":[24,174,181,213],"fusion":[25],"input":[30,88],"started":[32],"gaining":[33],"traction.":[34],"However,":[35],"effective":[36],"integration":[37],"these":[39],"modalities":[40],"for":[41,134],"precise":[42],"tasks":[45],"still":[46],"remains":[47],"a":[48,57,74,131],"largely":[49],"open":[50],"problem.":[51],"that,":[54],"we":[55],"propose":[56],"MultiStream":[58],"Detection":[59,147],"(MuStD)":[60],"network,":[61],"which":[62],"meticulously":[63],"extracts":[64,80],"task-relevant":[65],"information":[66,124],"from":[67,85],"both":[68],"modalities.":[70],"The":[71],"network":[72],"follows":[73],"three-stream":[75],"structure.":[76],"Its":[77],"LiDAR-PillarNet":[78],"stream":[79,93,102],"sparse":[81],"2D":[82,185,212],"pillar":[83],"features":[84,107,117],"while":[89],"LiDAR-Height":[91],"Compression":[92],"computes":[94],"Bird\u2019s-Eye":[95],"View":[96,179],"features.":[97],"An":[98],"additional":[99],"Multimodal":[101],"combines":[103],"using":[108],"UV":[109],"mapping":[110],"polar":[112],"coordinate":[113],"indexing.":[114],"Eventually,":[115],"containing":[118],"comprehensive":[119],"spatial,":[120],"textural,":[121],"geometric":[123],"are":[125],"carefully":[126],"fused":[127],"fed":[129],"head":[133],"detection.":[137,186],"We":[138],"evaluate":[139],"our":[140,200,221],"method":[141,201,222],"on":[142,152],"challenging":[144,218],"KITTI":[145],"Object":[146],"Benchmark,":[148],"with":[149,165],"results":[150,188],"available":[151],"official":[154],"evaluation":[155],"server.":[156],"<sup":[157],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[158],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup>.":[159],"Our":[160,232],"approach":[161],"achieves":[162],"strong":[163],"performance,":[164],"an":[166],"average":[167],"precision":[168],"(AP)":[169],"85.39%":[171],"91.34%":[175],"Bird\u2019s":[177],"Eye":[178],"(BEV)":[180],"96.39%":[183],"These":[187],"match":[189],"or":[190],"surpass":[191],"existing":[192],"state-of-the-art":[193],"methods.":[194],"In":[195],"difficult":[197],"\"Hard\"":[198],"category,":[199],"attains":[202],"80.78%":[203],"AP":[204,210],"94.04%":[209],"highlighting":[214],"its":[215],"robustness":[216],"scenarios.":[219],"Furthermore,":[220],"runs":[223],"at":[224,242],"67":[225],"ms,":[226],"demonstrating":[227],"efficiency":[228],"real-time":[230],"capability.":[231],"code":[233],"will":[234],"be":[235],"released":[236],"through":[237],"MuStD":[239],"GitHub":[240],"repository":[241],"https://github.com/IbrahimUWA/MuStD.":[243]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-05-17T08:19:37.847499","created_date":"2025-11-28T00:00:00"}