# RAE3D: Multiscale Aggregation-Enhanced 3D Object Detection for Rail Transit Obstacle Perception

> Research article (IEEE Transactions on Industrial Informatics, 2025) · cited 10× · AI/ML

**Wikidata**: [openalex:W4407948331](https://www.wikidata.org/wiki/openalex:W4407948331)  
**Source**: https://4ort.xyz/entity/rae3d-multiscale-aggregation-enhanced-3d-object-detection-for-rail-transit-obstacle-perception