mlsanityData to 14 Oct 2026

YOLO3D: End-to-end real-time 3D Oriented Object Bounding Box Detection from LiDAR Point Cloud

arXiv 1808.02350 ↗First posted 7 Aug 2018cs.CV eess.IVcited by 32

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Abstract (arXiv)

Object detection and classification in 3D is a key task in Automated Driving (AD). LiDAR sensors are employed to provide the 3D point cloud reconstruction of the surrounding environment, while the task of 3D object bounding box detection in real time remains a strong algorithmic challenge. In this paper, we build on the success of the one-shot regression meta-architecture in the 2D perspective image space and extend it to generate oriented 3D object bounding boxes from LiDAR point cloud. Our main contribution is in extending the loss function of YOLO v2 to include the yaw angle, the 3D box center in Cartesian coordinates and the height of the box as a direct regression problem. This formulation enables real-time performance, which is essential for automated driving. Our results are showing promising figures on KITTI benchmark, achieving real-time performance (40 fps) on Titan X GPU.

Key facts. Cited by 32 papers in the map (data through 14 Oct 2026). First posted on arXiv 7 Aug 2018.

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Citing papers per year: 2021: 4; 2022: 10; 2023: 7; 2024: 4; 2025: 5; 2026: 2.

32 papers.

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  1. 20223D Object Detection for Autonomous Driving: A Comprehensive Surveycited by 132
  2. 2022Not All Points Are Equal: Learning Highly Efficient Point-based Detectors for 3D LiDAR Point Cloudscited by 131
  3. 2021LiDAR R-CNN: An Efficient and Universal 3D Object Detectorcited by 129
  4. 2022Delving into the Devils of Bird's-eye-view Perception: A Review, Evaluation and Recipecited by 122
  5. 2024OpenEMMA: Open-Source Multimodal Model for End-to-End Autonomous Drivingcited by 93
  6. 2022Scene Graph Generation: A Comprehensive Surveycited by 73
  7. 2021Patchwork: Concentric Zone-based Region-wise Ground Segmentation with Ground Likelihood Estimation Using a 3D LiDAR Sensorcited by 29
  8. 2022Analyzing Infrastructure LiDAR Placement with Realistic LiDAR Simulation Librarycited by 14
  9. 20243DGS-DET: Empower 3D Gaussian Splatting with Boundary Guidance and Box-Focused Sampling for Indoor 3D Object Detectioncited by 13
  10. 2023SuperServe: Fine-Grained Inference Serving for Unpredictable Workloadscited by 12
  11. 2021INSTA-YOLO: Real-Time Instance Segmentationcited by 7
  12. 2023Optimizing the Placement of Roadside LiDARs for Autonomous Drivingcited by 7
20 more
  1. 2023Point Cloud-based Proactive Link Quality Prediction for Millimeter-wave Communicationscited by 4
  2. 2024CAMOT: Camera Angle-aware Multi-Object Trackingcited by 4
  3. 2022Survey and Systematization of 3D Object Detection Models and Methodscited by 3
  4. 2023MS23D: A 3D Object Detection Method Using Multi-Scale Semantic Feature Points to Construct 3D Feature Layercited by 3
  5. 2023IC-FPS: Instance-Centroid Faster Point Sampling Module for 3D Point-base Object Detectioncited by 2
  6. 2021Composition and Application of Current Advanced Driving Assistance System: A Reviewcited by 1
  7. 2023Subgraph Stationary Hardware-Software Inference Co-Designcited by 1
  8. 2023PV-SSD: A Multi-Modal Point Cloud Feature Fusion Method for Projection Features and Variable Receptive Field Voxel Featurescited by 1
  9. 2025Multimodal and Multiview Deep Fusion for Autonomous Marine Navigationcited by 1
  10. 2025Efficiency Robustness of Dynamic Deep Learning Systemscited by 1
  11. 2022Towards Safe, Real-Time Systems: Stereo vs Images and LiDAR for 3D Object Detectioncited by 0
  12. 2022Weighted Bayesian Gaussian Mixture Model for Roadside LiDAR Object Detectioncited by 0
  13. 2022CompleteDT: Point Cloud Completion with Dense Augment Inference Transformerscited by 0
  14. 2022Towards Semi-automatic Detection and Localization of Indoor Accessibility Issues using Mobile Depth Scanning and Computer Visioncited by 0
  15. 2024Enhancing Lidar-based Object Detection in Adverse Weather using Offset Sequences in Timecited by 0
  16. 2025PDM-SSD: Single-Stage Three-Dimensional Object Detector With Point Dilationcited by 0
  17. 2025Rethink 3D Object Detection from Physical Worldcited by 0
  18. 2025FractalCloud: A Fractal-Inspired Architecture for Efficient Large-Scale Point Cloud Processingcited by 0
  19. 2026RoAD Benchmark: How LiDAR Models Fail under Coupled Domain Shifts and Label Evolutioncited by 0
  20. 2026ACZ-GSeg: Adaptive Concentric Zone-based Two-stage Ground Segmentation for LiDAR Point Cloudscited by 0