mlsanityData to 14 Oct 2026

IPOD: Intensive Point-based Object Detector for Point Cloud

arXiv 1812.05276 ↗First posted 13 Dec 2018cs.CVcited by 46

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Abstract (arXiv)

We present a novel 3D object detection framework, named IPOD, based on raw point cloud. It seeds object proposal for each point, which is the basic element. This paradigm provides us with high recall and high fidelity of information, leading to a suitable way to process point cloud data. We design an end-to-end trainable architecture, where features of all points within a proposal are extracted from the backbone network and achieve a proposal feature for final bounding inference. These features with both context information and precise point cloud coordinates yield improved performance. We conduct experiments on KITTI dataset, evaluating our performance in terms of 3D object detection, Bird's Eye View (BEV) detection and 2D object detection. Our method accomplishes new state-of-the-art , showing great advantage on the hard set.

Key facts. Cited by 46 papers in the map (data through 14 Oct 2026). First posted on arXiv 13 Dec 2018.

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Citing papers per year: 2021: 12; 2022: 9; 2023: 12; 2024: 8; 2025: 4; 2026: 1.

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  1. 2022DeepFusion: Lidar-Camera Deep Fusion for Multi-Modal 3D Object Detectioncited by 224
  2. 2021Offboard 3D Object Detection from Point Cloud Sequencescited by 145
  3. 2021RangeDet:In Defense of Range View for LiDAR-based 3D Object Detectioncited by 140
  4. 20223D Object Detection for Autonomous Driving: A Comprehensive Surveycited by 132
  5. 2021LiDAR R-CNN: An Efficient and Universal 3D Object Detectorcited by 129
  6. 2023Visual Point Cloud Forecasting enables Scalable Autonomous Drivingcited by 99
  7. 2022Multi-modal Sensor Fusion for Auto Driving Perception: A Surveycited by 76
  8. 20213D-MAN: 3D Multi-frame Attention Network for Object Detectioncited by 73
  9. 2021Multi-Modal 3D Object Detection in Autonomous Driving: a Surveycited by 63
  10. 2021Semantics for Robotic Mapping, Perception and Interaction: A Surveycited by 56
  11. 2021Lidar Light Scattering Augmentation (LISA): Physics-based Simulation of Adverse Weather Conditions for 3D Object Detectioncited by 43
  12. 2023PartManip: Learning Cross-Category Generalizable Part Manipulation Policy from Point Cloud Observationscited by 42
34 more
  1. 2025Multimodal Fusion and Vision-Language Models: A Survey for Robot Visioncited by 40
  2. 2022A Unified Query-based Paradigm for Point Cloud Understandingcited by 32
  3. 2024OccFusion: Multi-Sensor Fusion Framework for 3D Semantic Occupancy Predictioncited by 32
  4. 2021Uncertainty-aware Mean Teacher for Source-free Unsupervised Domain Adaptive 3D Object Detectioncited by 18
  5. 2021Revisiting 3D Object Detection From an Egocentric Perspectivecited by 18
  6. 2021Towards Universal Physical Attacks On Cascaded Camera-Lidar 3D Object Detection Modelscited by 14
  7. 2023A Survey on Approximate Edge AI for Energy Efficient Autonomous Driving Servicescited by 14
  8. 2021Attentive Prototypes for Source-free Unsupervised Domain Adaptive 3D Object Detectioncited by 13
  9. 2023MoDAR: Using Motion Forecasting for 3D Object Detection in Point Cloud Sequencescited by 13
  10. 2023Curricular Object Manipulation in LiDAR-based Object Detectioncited by 12
  11. 20223D Dual-Fusion: Dual-Domain Dual-Query Camera-LiDAR Fusion for 3D Object Detectioncited by 11
  12. 2023Learning Optical Flow and Scene Flow with Bidirectional Camera-LiDAR Fusioncited by 10
  13. 2024Towards Stable 3D Object Detectioncited by 7
  14. 2022PAI3D: Painting Adaptive Instance-Prior for 3D Object Detectioncited by 6
  15. 2024Improving Distant 3D Object Detection Using 2D Box Supervisioncited by 6
  16. 2023mmFUSION: Multimodal Fusion for 3D Objects Detectioncited by 5
  17. 2024Small, Versatile and Mighty: A Range-View Perception Frameworkcited by 4
  18. 2024Learning 3D Perception from Others' Predictionscited by 4
  19. 2022Survey and Systematization of 3D Object Detection Models and Methodscited by 3
  20. 2022GraVoS: Voxel Selection for 3D Point-Cloud Detectioncited by 3
  21. 2023MS23D: A 3D Object Detection Method Using Multi-Scale Semantic Feature Points to Construct 3D Feature Layercited by 3
  22. 2021S-AT GCN: Spatial-Attention Graph Convolution Network based Feature Enhancement for 3D Object Detectioncited by 1
  23. 2023A survey on deep learning approaches for data integration in autonomous driving systemcited by 1
  24. 2023Deep learning for 3D Object Detection and Tracking in Autonomous Driving: A Brief Surveycited by 1
  25. 2024EffiPerception: an Efficient Framework for Various Perception Taskscited by 1
  26. 2024TS40K: a 3D Point Cloud Dataset of Rural Terrain and Electrical Transmission Systemcited by 1
  27. 2024LiDAttack: Robust Black-box Attack on LiDAR-based Object Detectioncited by 1
  28. 2025Enhancing Pseudo-Boxes via Data-Level LiDAR-Camera Fusion for Unsupervised 3D Object Detectioncited by 1
  29. 2025SliceSemOcc: Vertical Slice Based Multimodal 3D Semantic Occupancy Representationcited by 1
  30. 2022Comparative study of 3D object detection frameworks based on LiDAR data and sensor fusion techniquescited by 0
  31. 2023SDVRF: Sparse-to-Dense Voxel Region Fusion for Multi-modal 3D Object Detectioncited by 0
  32. 2023R2Det: Redemption from Range-view for Accurate 3D Object Detectioncited by 0
  33. 2025HQ-OV3D: A High Box Quality Open-World 3D Detection Framework based on Diffision Modelcited by 0
  34. 2026When the City Teaches the Car: Label-Free 3D Perception from Infrastructurecited by 0